2025-01-08T17:13:22.337Z,1736356402.337 [CommandExec](IMPORTANT): got command restart logs
2025-01-08T17:13:22.644Z,1736356402.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-08T17:13:22.645Z,1736356402.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:22.651Z,1736356402.651 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-01-08T17:13:22.660Z,1736356402.660 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-01-08T17:13:23.049Z,1736356403.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-08T17:13:23.049Z,1736356403.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:23.487Z,1736356403.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.2 s old, using for 20.0 s.
2025-01-08T17:13:23.492Z,1736356403.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:23.870Z,1736356403.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.5 s old, using for 20.0 s.
2025-01-08T17:13:23.870Z,1736356403.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:24.336Z,1736356404.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.0 s old, using for 20.0 s.
2025-01-08T17:13:24.336Z,1736356404.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:24.701Z,1736356404.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.4 s old, using for 20.0 s.
2025-01-08T17:13:24.701Z,1736356404.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:25.107Z,1736356405.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 11.8 s old, using for 20.0 s.
2025-01-08T17:13:25.107Z,1736356405.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:25.696Z,1736356405.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:26.039Z,1736356406.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:26.415Z,1736356406.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:26.824Z,1736356406.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:27.256Z,1736356407.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:27.696Z,1736356407.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:28.037Z,1736356408.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:28.447Z,1736356408.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:28.856Z,1736356408.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:29.246Z,1736356409.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:29.716Z,1736356409.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:30.065Z,1736356410.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:30.461Z,1736356410.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:30.854Z,1736356410.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:31.292Z,1736356411.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:31.736Z,1736356411.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:13:31.736Z,1736356411.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:32.080Z,1736356412.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:13:32.080Z,1736356412.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:32.490Z,1736356412.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-08T17:13:32.490Z,1736356412.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:32.897Z,1736356412.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-08T17:13:32.897Z,1736356412.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:33.291Z,1736356413.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-08T17:13:33.292Z,1736356413.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:33.737Z,1736356413.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.4 s old, using for 20.0 s.
2025-01-08T17:13:33.737Z,1736356413.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:34.082Z,1736356414.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-08T17:13:34.082Z,1736356414.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:34.486Z,1736356414.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-08T17:13:34.486Z,1736356414.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:34.920Z,1736356414.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-08T17:13:34.920Z,1736356414.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:35.306Z,1736356415.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s.
2025-01-08T17:13:35.307Z,1736356415.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:35.752Z,1736356415.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.5 s old, using for 20.0 s.
2025-01-08T17:13:35.752Z,1736356415.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:36.102Z,1736356416.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.8 s old, using for 20.0 s.
2025-01-08T17:13:36.102Z,1736356416.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:36.518Z,1736356416.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.2 s old, using for 20.0 s.
2025-01-08T17:13:36.518Z,1736356416.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:36.913Z,1736356416.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 5.6 s old, using for 20.0 s.
2025-01-08T17:13:36.913Z,1736356416.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:37.298Z,1736356417.298 [NAL9602](INFO): SBD MO Status=0, MOMSN=46725, MT Status=0, MTMSN=0
2025-01-08T17:13:37.298Z,1736356417.298 [NAL9602](INFO): No messages in MT queue
2025-01-08T17:13:37.326Z,1736356417.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.0 s old, using for 20.0 s.
2025-01-08T17:13:37.327Z,1736356417.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:37.782Z,1736356417.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.5 s old, using for 20.0 s.
2025-01-08T17:13:37.782Z,1736356417.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:38.155Z,1736356418.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 6.9 s old, using for 20.0 s.
2025-01-08T17:13:38.155Z,1736356418.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:38.538Z,1736356418.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.2 s old, using for 20.0 s.
2025-01-08T17:13:38.538Z,1736356418.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:38.932Z,1736356418.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 7.6 s old, using for 20.0 s.
2025-01-08T17:13:38.933Z,1736356418.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:39.348Z,1736356419.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.0 s old, using for 20.0 s.
2025-01-08T17:13:39.349Z,1736356419.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:39.827Z,1736356419.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.5 s old, using for 20.0 s.
2025-01-08T17:13:39.836Z,1736356419.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:40.157Z,1736356420.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 8.9 s old, using for 20.0 s.
2025-01-08T17:13:40.157Z,1736356420.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:40.620Z,1736356420.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.3 s old, using for 20.0 s.
2025-01-08T17:13:40.620Z,1736356420.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:40.947Z,1736356420.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 9.7 s old, using for 20.0 s.
2025-01-08T17:13:40.947Z,1736356420.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:41.351Z,1736356421.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 10.1 s old, using for 20.0 s.
2025-01-08T17:13:41.352Z,1736356421.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:41.909Z,1736356421.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:42.204Z,1736356422.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:42.629Z,1736356422.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:42.998Z,1736356422.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:43.452Z,1736356423.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:43.819Z,1736356423.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:13:43.819Z,1736356423.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:44.188Z,1736356424.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.7 s old, using for 20.0 s.
2025-01-08T17:13:44.188Z,1736356424.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:44.598Z,1736356424.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.1 s old, using for 20.0 s.
2025-01-08T17:13:44.598Z,1736356424.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:44.999Z,1736356424.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.5 s old, using for 20.0 s.
2025-01-08T17:13:44.999Z,1736356424.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:45.422Z,1736356425.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-08T17:13:45.451Z,1736356425.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:45.912Z,1736356425.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:46.246Z,1736356426.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:46.684Z,1736356426.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:47.044Z,1736356427.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:47.488Z,1736356427.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:47.910Z,1736356427.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:48.242Z,1736356428.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:48.645Z,1736356428.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:49.049Z,1736356429.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:49.577Z,1736356429.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:49.854Z,1736356429.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:50.257Z,1736356430.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:50.688Z,1736356430.688 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 21.81 mm (3 active estimators).
2025-01-08T17:13:50.689Z,1736356430.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:51.060Z,1736356431.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:51.541Z,1736356431.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:51.883Z,1736356431.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:52.273Z,1736356432.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:52.688Z,1736356432.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:53.081Z,1736356433.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:53.561Z,1736356433.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:53.897Z,1736356433.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:54.294Z,1736356434.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:54.709Z,1736356434.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:55.101Z,1736356435.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:55.553Z,1736356435.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:55.910Z,1736356435.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:56.344Z,1736356436.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:56.738Z,1736356436.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:57.129Z,1736356437.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:57.551Z,1736356437.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:57.944Z,1736356437.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:58.333Z,1736356438.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:58.749Z,1736356438.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:59.161Z,1736356439.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:59.577Z,1736356439.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:13:59.951Z,1736356439.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:00.399Z,1736356440.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:00.764Z,1736356440.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:01.172Z,1736356441.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:01.587Z,1736356441.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:01.984Z,1736356441.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:02.390Z,1736356442.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:02.799Z,1736356442.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:03.188Z,1736356443.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:03.615Z,1736356443.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:03.999Z,1736356443.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:04.436Z,1736356444.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:04.801Z,1736356444.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:05.206Z,1736356445.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:05.639Z,1736356445.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:06.014Z,1736356446.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:06.418Z,1736356446.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:06.829Z,1736356446.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:07.234Z,1736356447.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:07.256Z,1736356447.256 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:14:07.661Z,1736356447.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:08.029Z,1736356448.029 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-08T17:14:08.038Z,1736356448.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:08.438Z,1736356448.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:08.859Z,1736356448.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:09.249Z,1736356449.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:09.697Z,1736356449.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:10.063Z,1736356450.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:10.474Z,1736356450.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:10.858Z,1736356450.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:10.872Z,1736356450.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:14:10.941Z,1736356450.941 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:14:10.941Z,1736356450.941 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:14:11.193Z,1736356451.193 [DAT](INFO): DAT read: user:22>

2025-01-08T17:14:11.194Z,1736356451.194 [DAT](INFO): DAT read: Tx time:17:14:10.3785

2025-01-08T17:14:11.194Z,1736356451.194 [DAT](INFO): Ping request sent.
2025-01-08T17:14:11.194Z,1736356451.194 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:14:11.194Z,1736356451.194 [DAT](INFO): publishing transmit ping time
2025-01-08T17:14:11.195Z,1736356451.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757
2025-01-08T17:14:11.268Z,1736356451.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:11.448Z,1736356451.448 [DAT](INFO): DAT read: TxSync time:17:14:10.3778

2025-01-08T17:14:11.450Z,1736356451.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255774
2025-01-08T17:14:11.693Z,1736356451.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:11.697Z,1736356451.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502353
2025-01-08T17:14:11.948Z,1736356451.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753946
2025-01-08T17:14:12.071Z,1736356452.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:12.200Z,1736356452.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006075
2025-01-08T17:14:12.457Z,1736356452.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262990
2025-01-08T17:14:12.478Z,1736356452.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:12.705Z,1736356452.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510443
2025-01-08T17:14:12.887Z,1736356452.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:12.957Z,1736356452.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762607
2025-01-08T17:14:13.209Z,1736356453.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014218
2025-01-08T17:14:13.288Z,1736356453.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:13.463Z,1736356453.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268132
2025-01-08T17:14:13.732Z,1736356453.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.537616
2025-01-08T17:14:13.741Z,1736356453.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:13.966Z,1736356453.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771506
2025-01-08T17:14:14.093Z,1736356454.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:14.216Z,1736356454.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021963
2025-01-08T17:14:14.468Z,1736356454.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274059
2025-01-08T17:14:14.510Z,1736356454.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:14.721Z,1736356454.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526850
2025-01-08T17:14:14.903Z,1736356454.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:14.973Z,1736356454.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778870
2025-01-08T17:14:15.224Z,1736356455.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030216
2025-01-08T17:14:15.332Z,1736356455.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:15.481Z,1736356455.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286505
2025-01-08T17:14:15.729Z,1736356455.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534387
2025-01-08T17:14:15.774Z,1736356455.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:15.980Z,1736356455.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786054
2025-01-08T17:14:16.132Z,1736356456.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:16.232Z,1736356456.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038177
2025-01-08T17:14:16.484Z,1736356456.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290020
2025-01-08T17:14:16.529Z,1736356456.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:16.737Z,1736356456.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542599
2025-01-08T17:14:16.920Z,1736356456.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:16.990Z,1736356456.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794689
2025-01-08T17:14:17.240Z,1736356457.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045962
2025-01-08T17:14:17.332Z,1736356457.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:17.493Z,1736356457.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298906
2025-01-08T17:14:17.746Z,1736356457.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551486
2025-01-08T17:14:17.799Z,1736356457.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:17.998Z,1736356457.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803682
2025-01-08T17:14:18.145Z,1736356458.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:18.248Z,1736356458.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054065
2025-01-08T17:14:18.502Z,1736356458.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307480
2025-01-08T17:14:18.561Z,1736356458.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:18.754Z,1736356458.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560038
2025-01-08T17:14:18.946Z,1736356458.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:19.005Z,1736356459.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810647
2025-01-08T17:14:19.256Z,1736356459.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061952
2025-01-08T17:14:19.349Z,1736356459.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:19.513Z,1736356459.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317950
2025-01-08T17:14:19.761Z,1736356459.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566839
2025-01-08T17:14:19.784Z,1736356459.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:20.014Z,1736356460.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819517
2025-01-08T17:14:20.173Z,1736356460.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:20.264Z,1736356460.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070066
2025-01-08T17:14:20.517Z,1736356460.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322259
2025-01-08T17:14:20.597Z,1736356460.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:20.768Z,1736356460.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574185
2025-01-08T17:14:20.985Z,1736356460.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:21.021Z,1736356461.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826270
2025-01-08T17:14:21.272Z,1736356461.272 [DAT](INFO): Reached modem response timeout
2025-01-08T17:14:21.370Z,1736356461.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:21.798Z,1736356461.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:22.028Z,1736356462.028 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:14:22.029Z,1736356462.029 [DAT](INFO): response not received
2025-01-08T17:14:22.029Z,1736356462.029 [DAT](ERROR): No response from remote modem.
2025-01-08T17:14:22.185Z,1736356462.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:22.589Z,1736356462.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:22.989Z,1736356462.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:23.414Z,1736356463.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:23.824Z,1736356463.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:24.201Z,1736356464.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:24.616Z,1736356464.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:25.018Z,1736356465.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:25.497Z,1736356465.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:25.830Z,1736356465.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:26.226Z,1736356466.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:26.625Z,1736356466.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:27.021Z,1736356467.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:27.448Z,1736356467.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:27.857Z,1736356467.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:28.261Z,1736356468.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:28.645Z,1736356468.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:29.054Z,1736356469.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:29.495Z,1736356469.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:29.870Z,1736356469.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:30.275Z,1736356470.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:30.669Z,1736356470.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:31.061Z,1736356471.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:31.533Z,1736356471.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:31.888Z,1736356471.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:32.291Z,1736356472.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:32.677Z,1736356472.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:33.085Z,1736356473.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:33.551Z,1736356473.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:33.899Z,1736356473.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:34.290Z,1736356474.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:34.704Z,1736356474.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:35.107Z,1736356475.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:35.378Z,1736356475.378 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.360867
2025-01-08T17:14:35.566Z,1736356475.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:35.574Z,1736356475.574 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-01-08T17:14:35.574Z,1736356475.574 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-01-08T17:14:35.576Z,1736356475.576 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-01-08T17:14:35.576Z,1736356475.576 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-01-08T17:14:35.578Z,1736356475.578 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-01-08T17:14:35.578Z,1736356475.578 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-01-08T17:14:35.584Z,1736356475.584 [lineCaptureHoming:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-08T17:14:36.053Z,1736356476.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:36.062Z,1736356476.062 [lineCaptureHoming:MicromodemComms] Stopped
2025-01-08T17:14:36.062Z,1736356476.062 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-01-08T17:14:36.062Z,1736356476.062 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-01-08T17:14:36.062Z,1736356476.062 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-01-08T17:14:36.062Z,1736356476.062 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-01-08T17:14:36.380Z,1736356476.380 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:14:36.453Z,1736356476.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:36.461Z,1736356476.461 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-01-08T17:14:36.461Z,1736356476.461 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-01-08T17:14:36.461Z,1736356476.461 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-01-08T17:14:36.462Z,1736356476.462 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-01-08T17:14:36.462Z,1736356476.462 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-01-08T17:14:36.888Z,1736356476.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:37.305Z,1736356477.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:37.736Z,1736356477.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:38.100Z,1736356478.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:38.505Z,1736356478.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:38.910Z,1736356478.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:39.324Z,1736356479.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:39.754Z,1736356479.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:40.123Z,1736356480.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:40.532Z,1736356480.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:40.935Z,1736356480.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:41.335Z,1736356481.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:41.776Z,1736356481.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:42.143Z,1736356482.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:42.564Z,1736356482.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:42.964Z,1736356482.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:43.352Z,1736356483.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:43.801Z,1736356483.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:44.170Z,1736356484.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:44.583Z,1736356484.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:44.977Z,1736356484.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:45.376Z,1736356485.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:45.790Z,1736356485.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:46.183Z,1736356486.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:46.591Z,1736356486.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:47.002Z,1736356487.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:47.499Z,1736356487.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:47.806Z,1736356487.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:48.215Z,1736356488.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:48.629Z,1736356488.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:49.011Z,1736356489.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:49.420Z,1736356489.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:14:49.420Z,1736356489.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:49.829Z,1736356489.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:14:49.830Z,1736356489.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:50.236Z,1736356490.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-08T17:14:50.236Z,1736356490.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:50.639Z,1736356490.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-08T17:14:50.639Z,1736356490.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:50.940Z,1736356490.940 [Radio_Surface](INFO): Powering down
2025-01-08T17:14:51.036Z,1736356491.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-08T17:14:51.036Z,1736356491.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:51.504Z,1736356491.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.5 s old, using for 20.0 s.
2025-01-08T17:14:51.504Z,1736356491.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:51.852Z,1736356491.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.8 s old, using for 20.0 s.
2025-01-08T17:14:51.852Z,1736356491.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:52.239Z,1736356492.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.2 s old, using for 20.0 s.
2025-01-08T17:14:52.240Z,1736356492.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:52.655Z,1736356492.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 3.6 s old, using for 20.0 s.
2025-01-08T17:14:52.656Z,1736356492.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:53.051Z,1736356493.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 4.0 s old, using for 20.0 s.
2025-01-08T17:14:53.052Z,1736356493.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:53.526Z,1736356493.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:53.876Z,1736356493.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:54.287Z,1736356494.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:54.669Z,1736356494.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:55.083Z,1736356495.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:55.533Z,1736356495.533 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010809160064,35.0, +13.4,   0.0,1501.8RA,  0.00, 655.05, 578.63, 477.64,   0.00
2025-01-08T17:14:55.543Z,1736356495.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-08T17:14:55.543Z,1736356495.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:55.881Z,1736356495.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:14:55.881Z,1736356495.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:56.293Z,1736356496.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-08T17:14:56.293Z,1736356496.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:56.690Z,1736356496.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-08T17:14:56.690Z,1736356496.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:57.092Z,1736356497.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-08T17:14:57.093Z,1736356497.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:57.548Z,1736356497.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:57.906Z,1736356497.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:58.303Z,1736356498.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:58.710Z,1736356498.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:59.153Z,1736356499.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:59.549Z,1736356499.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:14:59.934Z,1736356499.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:00.335Z,1736356500.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:00.753Z,1736356500.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:01.137Z,1736356501.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:01.567Z,1736356501.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:01.941Z,1736356501.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:02.344Z,1736356502.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:02.756Z,1736356502.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:03.149Z,1736356503.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:03.596Z,1736356503.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:03.961Z,1736356503.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:04.380Z,1736356504.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:04.796Z,1736356504.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:05.172Z,1736356505.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:05.602Z,1736356505.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:05.993Z,1736356505.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:06.384Z,1736356506.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:06.524Z,1736356506.524 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:15:06.802Z,1736356506.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:07.182Z,1736356507.182 [NAL9602](INFO): Not Powering down - fast GPS
2025-01-08T17:15:07.193Z,1736356507.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:07.528Z,1736356507.528 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-01-08T17:15:07.528Z,1736356507.528 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:15:07.617Z,1736356507.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:07.999Z,1736356507.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:08.425Z,1736356508.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:08.825Z,1736356508.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:09.213Z,1736356509.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:09.652Z,1736356509.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:10.021Z,1736356510.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:10.452Z,1736356510.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:10.834Z,1736356510.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:11.238Z,1736356511.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:11.246Z,1736356511.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:15:11.479Z,1736356511.479 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:15:11.480Z,1736356511.480 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:15:11.665Z,1736356511.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:11.729Z,1736356511.729 [DAT](INFO): DAT read: user:23>

2025-01-08T17:15:11.730Z,1736356511.730 [DAT](INFO): DAT read: Tx time:17:15:10.8791

2025-01-08T17:15:11.731Z,1736356511.731 [DAT](INFO): Ping request sent.
2025-01-08T17:15:11.731Z,1736356511.731 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:15:11.733Z,1736356511.733 [DAT](INFO): DAT read: TxSync time:17:15:10.8783

2025-01-08T17:15:11.733Z,1736356511.733 [DAT](INFO): publishing transmit ping time
2025-01-08T17:15:11.734Z,1736356511.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003034
2025-01-08T17:15:11.982Z,1736356511.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250756
2025-01-08T17:15:12.055Z,1736356512.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:12.232Z,1736356512.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501361
2025-01-08T17:15:12.442Z,1736356512.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:12.484Z,1736356512.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753218
2025-01-08T17:15:12.737Z,1736356512.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006104
2025-01-08T17:15:12.852Z,1736356512.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:12.990Z,1736356512.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259010
2025-01-08T17:15:13.241Z,1736356513.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510085
2025-01-08T17:15:13.274Z,1736356513.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:13.493Z,1736356513.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762133
2025-01-08T17:15:13.684Z,1736356513.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:13.744Z,1736356513.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013495
2025-01-08T17:15:13.996Z,1736356513.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265466
2025-01-08T17:15:14.064Z,1736356514.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:14.248Z,1736356514.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517340
2025-01-08T17:15:14.474Z,1736356514.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:14.501Z,1736356514.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769644
2025-01-08T17:15:14.752Z,1736356514.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021301
2025-01-08T17:15:14.868Z,1736356514.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:15.004Z,1736356515.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273346
2025-01-08T17:15:15.265Z,1736356515.265 [DAT](INFO): DAT read: Rx Time:17:15:13.9734

2025-01-08T17:15:15.265Z,1736356515.265 [DAT](INFO): Rx dataTimestamp_ set to:1736356515.265155
2025-01-08T17:15:15.266Z,1736356515.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535068
2025-01-08T17:15:15.284Z,1736356515.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:15.516Z,1736356515.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.785289
2025-01-08T17:15:15.669Z,1736356515.669 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010809162064,35.0, +0.0,1501

2025-01-08T17:15:15.731Z,1736356515.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:15:15.737Z,1736356515.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:15.776Z,1736356515.776 [DAT](INFO): DAT read: 17:15:13.9734 LVL= 24816, 22609, 15826, 25955, AGC= 75, IDX= 179, 0.06, 2.258,-1.815,-2.142,-2.446, PHS=-1.491, 0.678, 0.301, RAW= 279.4,   5.1, CAL= 283.0,   7.0, ROT= 227.0,  -7.0

2025-01-08T17:15:15.777Z,1736356515.777 [DAT](INFO): got valid direction response:
 17:15:13.9734 LVL= 24816, 22609, 15826, 25955, AGC= 75, IDX= 179, 0.06, 2.258,-1.815,-2.142,-2.446, PHS=-1.491, 0.678, 0.301, RAW= 279.4,   5.1, CAL= 283.0,   7.0, ROT= 227.0,  -7.0

2025-01-08T17:15:15.778Z,1736356515.778 [DAT](INFO): DAT read: $Error in header

2025-01-08T17:15:15.778Z,1736356515.778 [DAT](INFO): Received a bad header
2025-01-08T17:15:15.793Z,1736356515.793 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-08T17:15:15.794Z,1736356515.794 [DAT](INFO): direction in FSK: [-0.676915,-0.725902,0.121869]
2025-01-08T17:15:16.102Z,1736356516.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:15:16.102Z,1736356516.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:16.485Z,1736356516.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-08T17:15:16.485Z,1736356516.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:16.903Z,1736356516.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-08T17:15:16.903Z,1736356516.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:17.297Z,1736356517.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-08T17:15:17.297Z,1736356517.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:17.722Z,1736356517.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:18.104Z,1736356518.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:18.504Z,1736356518.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:18.903Z,1736356518.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:19.310Z,1736356519.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:19.776Z,1736356519.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:20.141Z,1736356520.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:20.522Z,1736356520.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:20.933Z,1736356520.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:21.336Z,1736356521.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:21.766Z,1736356521.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:21.828Z,1736356521.828 [DAT](INFO): Reached modem response timeout
2025-01-08T17:15:22.172Z,1736356522.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:22.548Z,1736356522.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:22.585Z,1736356522.585 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:15:22.585Z,1736356522.585 [DAT](INFO): response not received
2025-01-08T17:15:22.586Z,1736356522.586 [DAT](ERROR): No response from remote modem.
2025-01-08T17:15:22.955Z,1736356522.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:23.350Z,1736356523.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:23.792Z,1736356523.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:24.159Z,1736356524.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:24.572Z,1736356524.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:24.982Z,1736356524.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:25.377Z,1736356525.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:25.771Z,1736356525.771 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010809163064,35.0, +13.4,   0.0,1501.8RA,  0.00, 547.75, 483.44, 399.00 867,   +21,   -64,A
2025-01-08T17:15:25.780Z,1736356525.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:15:25.780Z,1736356525.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:26.193Z,1736356526.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:15:26.193Z,1736356526.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:26.583Z,1736356526.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-08T17:15:26.583Z,1736356526.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:26.995Z,1736356526.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-08T17:15:26.995Z,1736356526.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:27.397Z,1736356527.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-08T17:15:27.397Z,1736356527.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:27.836Z,1736356527.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:28.208Z,1736356528.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:28.610Z,1736356528.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:29.009Z,1736356529.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:29.414Z,1736356529.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:29.834Z,1736356529.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:30.242Z,1736356530.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:30.621Z,1736356530.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:31.037Z,1736356531.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:31.484Z,1736356531.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:31.860Z,1736356531.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:32.245Z,1736356532.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:32.643Z,1736356532.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:33.048Z,1736356533.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:33.524Z,1736356533.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:33.857Z,1736356533.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:34.261Z,1736356534.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:34.662Z,1736356534.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:35.072Z,1736356535.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:35.560Z,1736356535.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-08T17:15:35.560Z,1736356535.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:35.880Z,1736356535.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:15:35.881Z,1736356535.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:36.287Z,1736356536.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-08T17:15:36.287Z,1736356536.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:36.720Z,1736356536.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-08T17:15:36.720Z,1736356536.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:37.103Z,1736356537.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-08T17:15:37.103Z,1736356537.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:37.543Z,1736356537.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:37.652Z,1736356537.652 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:15:37.903Z,1736356537.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:38.320Z,1736356538.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:38.656Z,1736356538.656 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:15:38.708Z,1736356538.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:39.111Z,1736356539.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:39.537Z,1736356539.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:39.928Z,1736356539.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:40.318Z,1736356540.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:40.730Z,1736356540.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:41.145Z,1736356541.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:41.566Z,1736356541.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:41.935Z,1736356541.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:42.346Z,1736356542.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:42.749Z,1736356542.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:43.164Z,1736356543.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:43.586Z,1736356543.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:43.955Z,1736356543.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:44.359Z,1736356544.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:44.771Z,1736356544.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:45.168Z,1736356545.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:45.593Z,1736356545.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:15:45.593Z,1736356545.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:45.984Z,1736356545.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:15:45.984Z,1736356545.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:46.390Z,1736356546.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-08T17:15:46.390Z,1736356546.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:46.783Z,1736356546.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-08T17:15:46.784Z,1736356546.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:47.184Z,1736356547.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-08T17:15:47.184Z,1736356547.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:47.618Z,1736356547.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:48.007Z,1736356548.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:48.396Z,1736356548.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:48.808Z,1736356548.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:49.213Z,1736356549.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:49.649Z,1736356549.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:50.012Z,1736356550.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:50.421Z,1736356550.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:50.828Z,1736356550.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:51.244Z,1736356551.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:51.700Z,1736356551.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:52.036Z,1736356552.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:52.440Z,1736356552.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:52.841Z,1736356552.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:53.253Z,1736356553.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:53.678Z,1736356553.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:54.055Z,1736356554.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:54.458Z,1736356554.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:54.864Z,1736356554.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:55.283Z,1736356555.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:55.681Z,1736356555.681 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,     -3883,0.10,  20.00, :BI,  -3,
2025-01-08T17:15:55.714Z,1736356555.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:15:55.714Z,1736356555.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:56.079Z,1736356556.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:15:56.079Z,1736356556.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:56.483Z,1736356556.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-08T17:15:56.484Z,1736356556.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:56.882Z,1736356556.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.6 s old, using for 20.0 s.
2025-01-08T17:15:56.882Z,1736356556.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:57.288Z,1736356557.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.0 s old, using for 20.0 s.
2025-01-08T17:15:57.288Z,1736356557.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:57.722Z,1736356557.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:58.114Z,1736356558.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:58.496Z,1736356558.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:58.900Z,1736356558.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:59.388Z,1736356559.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:15:59.731Z,1736356559.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:00.112Z,1736356560.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:00.556Z,1736356560.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:00.940Z,1736356560.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:01.365Z,1736356561.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:01.777Z,1736356561.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:02.131Z,1736356562.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:02.562Z,1736356562.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:02.957Z,1736356562.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:03.410Z,1736356563.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:03.796Z,1736356563.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:04.158Z,1736356564.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:04.596Z,1736356564.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:04.965Z,1736356564.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:05.434Z,1736356565.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:05.808Z,1736356565.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:06.181Z,1736356566.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:06.600Z,1736356566.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:06.992Z,1736356566.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:07.465Z,1736356567.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:07.813Z,1736356567.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:08.197Z,1736356568.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:08.633Z,1736356568.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:08.776Z,1736356568.776 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:16:09.012Z,1736356569.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:09.409Z,1736356569.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:09.781Z,1736356569.781 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:16:09.868Z,1736356569.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:10.227Z,1736356570.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:10.625Z,1736356570.625 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 361.54, 267.74, 467.27
2025-01-08T17:16:10.648Z,1736356570.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:16:10.648Z,1736356570.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:11.032Z,1736356571.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:16:11.032Z,1736356571.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:11.430Z,1736356571.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-08T17:16:11.430Z,1736356571.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:11.438Z,1736356571.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:16:11.511Z,1736356571.511 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:16:11.511Z,1736356571.511 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:16:11.760Z,1736356571.760 [DAT](INFO): DAT read: 

2025-01-08T17:16:11.761Z,1736356571.761 [DAT](INFO): DAT read: Tx time:17:16:10.9295

2025-01-08T17:16:11.761Z,1736356571.761 [DAT](INFO): Ping request sent.
2025-01-08T17:16:11.761Z,1736356571.761 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:16:11.761Z,1736356571.761 [DAT](INFO): publishing transmit ping time
2025-01-08T17:16:11.762Z,1736356571.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-01-08T17:16:11.867Z,1736356571.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:12.012Z,1736356572.012 [DAT](INFO): DAT read: TxSync time:17:16:10.9288

2025-01-08T17:16:12.013Z,1736356572.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251943
2025-01-08T17:16:12.240Z,1736356572.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:12.264Z,1736356572.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503110
2025-01-08T17:16:12.521Z,1736356572.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758706
2025-01-08T17:16:12.667Z,1736356572.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:12.768Z,1736356572.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007186
2025-01-08T17:16:13.026Z,1736356573.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264646
2025-01-08T17:16:13.067Z,1736356573.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:13.273Z,1736356573.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511676
2025-01-08T17:16:13.459Z,1736356573.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:13.528Z,1736356573.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765844
2025-01-08T17:16:13.777Z,1736356573.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015368
2025-01-08T17:16:13.900Z,1736356573.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:14.031Z,1736356574.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269524
2025-01-08T17:16:14.260Z,1736356574.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:14.282Z,1736356574.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521075
2025-01-08T17:16:14.541Z,1736356574.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773459
2025-01-08T17:16:14.684Z,1736356574.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:14.785Z,1736356574.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023309
2025-01-08T17:16:15.038Z,1736356575.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276418
2025-01-08T17:16:15.099Z,1736356575.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:15.288Z,1736356575.288 [DAT](INFO): DAT read: Rx Time:17:16:14.0435

2025-01-08T17:16:15.289Z,1736356575.289 [DAT](INFO): Rx dataTimestamp_ set to:1736356575.289117
2025-01-08T17:16:15.290Z,1736356575.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528819
2025-01-08T17:16:15.512Z,1736356575.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:15.549Z,1736356575.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787523
2025-01-08T17:16:15.809Z,1736356575.809 [DAT](INFO): DAT read: $Error in header

2025-01-08T17:16:15.809Z,1736356575.809 [DAT](INFO): Received a bad header
2025-01-08T17:16:15.824Z,1736356575.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.062486
2025-01-08T17:16:15.922Z,1736356575.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:16.054Z,1736356576.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.292561
2025-01-08T17:16:16.285Z,1736356576.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:16.304Z,1736356576.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.543186
2025-01-08T17:16:16.559Z,1736356576.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.797596
2025-01-08T17:16:16.726Z,1736356576.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:16.808Z,1736356576.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047016
2025-01-08T17:16:17.060Z,1736356577.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.299054
2025-01-08T17:16:17.093Z,1736356577.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:17.313Z,1736356577.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.551429
2025-01-08T17:16:17.496Z,1736356577.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:17.568Z,1736356577.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.806150
2025-01-08T17:16:17.816Z,1736356577.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055115
2025-01-08T17:16:17.920Z,1736356577.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:18.069Z,1736356578.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307446
2025-01-08T17:16:18.296Z,1736356578.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:18.320Z,1736356578.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559170
2025-01-08T17:16:18.573Z,1736356578.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811923
2025-01-08T17:16:18.742Z,1736356578.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:18.825Z,1736356578.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063388
2025-01-08T17:16:19.076Z,1736356579.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315108
2025-01-08T17:16:19.134Z,1736356579.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:19.328Z,1736356579.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567146
2025-01-08T17:16:19.535Z,1736356579.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:19.584Z,1736356579.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.822152
2025-01-08T17:16:19.833Z,1736356579.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071529
2025-01-08T17:16:19.938Z,1736356579.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:20.086Z,1736356580.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.324703
2025-01-08T17:16:20.315Z,1736356580.315 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:20.336Z,1736356580.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575082
2025-01-08T17:16:20.589Z,1736356580.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827041
2025-01-08T17:16:20.754Z,1736356580.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:20.840Z,1736356580.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079276
2025-01-08T17:16:21.092Z,1736356581.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331019
2025-01-08T17:16:21.126Z,1736356581.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:21.344Z,1736356581.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583062
2025-01-08T17:16:21.532Z,1736356581.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:21.598Z,1736356581.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.836436
2025-01-08T17:16:21.848Z,1736356581.848 [DAT](INFO): Reached modem response timeout
2025-01-08T17:16:21.952Z,1736356581.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:22.344Z,1736356582.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:22.604Z,1736356582.604 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:16:22.605Z,1736356582.605 [DAT](INFO): response not received
2025-01-08T17:16:22.605Z,1736356582.605 [DAT](ERROR): No response from remote modem.
2025-01-08T17:16:22.775Z,1736356582.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:23.194Z,1736356583.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:23.555Z,1736356583.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:23.984Z,1736356583.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:24.360Z,1736356584.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:24.784Z,1736356584.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:25.195Z,1736356585.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:25.568Z,1736356585.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:26.007Z,1736356586.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:26.377Z,1736356586.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:26.810Z,1736356586.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:27.186Z,1736356587.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:27.589Z,1736356587.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:28.015Z,1736356588.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:28.406Z,1736356588.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:28.848Z,1736356588.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:29.207Z,1736356589.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:29.618Z,1736356589.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:30.047Z,1736356590.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:30.420Z,1736356590.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:30.880Z,1736356590.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:31.232Z,1736356591.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:31.635Z,1736356591.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:32.064Z,1736356592.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:32.441Z,1736356592.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:32.897Z,1736356592.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:33.257Z,1736356593.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:33.666Z,1736356593.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:34.090Z,1736356594.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:34.462Z,1736356594.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:34.941Z,1736356594.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:35.278Z,1736356595.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:35.669Z,1736356595.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:36.101Z,1736356596.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:36.477Z,1736356596.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:36.945Z,1736356596.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:37.288Z,1736356597.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:37.695Z,1736356597.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:38.123Z,1736356598.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:38.503Z,1736356598.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:38.976Z,1736356598.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:39.368Z,1736356599.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:39.761Z,1736356599.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:39.901Z,1736356599.901 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:16:40.192Z,1736356600.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:40.556Z,1736356600.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:40.904Z,1736356600.904 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:16:41.019Z,1736356601.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:41.363Z,1736356601.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:41.764Z,1736356601.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:42.192Z,1736356602.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:42.592Z,1736356602.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:43.049Z,1736356603.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:43.385Z,1736356603.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:43.782Z,1736356603.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:44.215Z,1736356604.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:44.602Z,1736356604.602 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:45.080Z,1736356605.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:45.420Z,1736356605.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:45.812Z,1736356605.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:46.243Z,1736356606.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:46.616Z,1736356606.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:47.078Z,1736356607.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:47.439Z,1736356607.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:47.445Z,1736356607.445 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-01-08T17:16:47.446Z,1736356607.446 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-01-08T17:16:47.446Z,1736356607.446 [lineCaptureHoming:InitialDive] Stopped
2025-01-08T17:16:47.446Z,1736356607.446 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-01-08T17:16:47.446Z,1736356607.446 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-01-08T17:16:47.446Z,1736356607.446 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-01-08T17:16:47.446Z,1736356607.446 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-01-08T17:16:47.446Z,1736356607.446 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-01-08T17:16:47.447Z,1736356607.447 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-01-08T17:16:47.447Z,1736356607.447 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-01-08T17:16:47.447Z,1736356607.447 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-01-08T17:16:47.832Z,1736356607.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:47.839Z,1736356607.839 [lineCaptureHoming:RepeatHack:A] Stopped
2025-01-08T17:16:47.839Z,1736356607.839 [lineCaptureHoming:RepeatHack](INFO): Completed lineCaptureHoming:RepeatHack
2025-01-08T17:16:47.839Z,1736356607.839 [lineCaptureHoming:RepeatHack] Stopped
2025-01-08T17:16:47.839Z,1736356607.839 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-01-08T17:16:47.840Z,1736356607.840 [lineCaptureHoming:Lap] Running Loop=1
2025-01-08T17:16:47.840Z,1736356607.840 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-01-08T17:16:47.840Z,1736356607.840 [lineCaptureHoming:Lap:A] Running Loop=1
2025-01-08T17:16:48.264Z,1736356608.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:48.270Z,1736356608.270 [lineCaptureHoming:Lap:A] Stopped
2025-01-08T17:16:48.270Z,1736356608.270 [lineCaptureHoming:Lap:B] Running Loop=1
2025-01-08T17:16:48.270Z,1736356608.270 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-01-08T17:16:48.631Z,1736356608.631 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:48.638Z,1736356608.638 [lineCaptureHoming:LineCapture] Running Loop=1
2025-01-08T17:16:48.638Z,1736356608.638 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-01-08T17:16:48.638Z,1736356608.638 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-01-08T17:16:48.639Z,1736356608.639 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-01-08T17:16:48.639Z,1736356608.639 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-08T17:16:48.639Z,1736356608.639 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-01-08T17:16:48.639Z,1736356608.639 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-08T17:16:48.639Z,1736356608.639 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-01-08T17:16:48.639Z,1736356608.639 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-08T17:16:48.639Z,1736356608.639 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-01-08T17:16:48.640Z,1736356608.640 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-01-08T17:16:48.640Z,1736356608.640 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-01-08T17:16:48.640Z,1736356608.640 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-01-08T17:16:48.640Z,1736356608.640 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-01-08T17:16:48.640Z,1736356608.640 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-01-08T17:16:48.640Z,1736356608.640 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-01-08T17:16:48.640Z,1736356608.640 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-01-08T17:16:48.640Z,1736356608.640 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-01-08T17:16:48.640Z,1736356608.640 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-01-08T17:16:48.640Z,1736356608.640 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-01-08T17:16:48.640Z,1736356608.640 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-08T17:16:48.641Z,1736356608.641 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-01-08T17:16:48.641Z,1736356608.641 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-01-08T17:16:48.641Z,1736356608.641 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-01-08T17:16:48.641Z,1736356608.641 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-01-08T17:16:48.641Z,1736356608.641 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-01-08T17:16:48.642Z,1736356608.642 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-01-08T17:16:48.642Z,1736356608.642 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-01-08T17:16:48.642Z,1736356608.642 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-01-08T17:16:48.642Z,1736356608.642 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-01-08T17:16:48.642Z,1736356608.642 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-08T17:16:48.643Z,1736356608.643 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-08T17:16:48.643Z,1736356608.643 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-08T17:16:48.644Z,1736356608.644 [lineCaptureHoming:LineCapture:A] Stopped
2025-01-08T17:16:48.644Z,1736356608.644 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-01-08T17:16:49.053Z,1736356609.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:49.110Z,1736356609.110 [lineCaptureHoming:LineCapture:B] Stopped
2025-01-08T17:16:49.111Z,1736356609.111 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-01-08T17:16:49.469Z,1736356609.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:49.477Z,1736356609.477 [lineCaptureHoming:LineCapture:D] Stopped
2025-01-08T17:16:49.477Z,1736356609.477 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-01-08T17:16:49.862Z,1736356609.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:49.870Z,1736356609.870 [lineCaptureHoming:LineCapture:E] Stopped
2025-01-08T17:16:49.871Z,1736356609.871 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-01-08T17:16:50.266Z,1736356610.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:50.296Z,1736356610.296 [lineCaptureHoming:LineCapture:F] Stopped
2025-01-08T17:16:50.296Z,1736356610.296 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-01-08T17:16:50.296Z,1736356610.296 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-01-08T17:16:50.296Z,1736356610.296 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-01-08T17:16:50.296Z,1736356610.296 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-01-08T17:16:50.296Z,1736356610.296 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-01-08T17:16:50.296Z,1736356610.296 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-01-08T17:16:50.297Z,1736356610.297 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-01-08T17:16:50.297Z,1736356610.297 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-01-08T17:16:50.297Z,1736356610.297 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-01-08T17:16:50.297Z,1736356610.297 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-01-08T17:16:50.297Z,1736356610.297 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-01-08T17:16:50.297Z,1736356610.297 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-01-08T17:16:50.297Z,1736356610.297 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-01-08T17:16:50.298Z,1736356610.298 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-01-08T17:16:50.298Z,1736356610.298 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-01-08T17:16:50.298Z,1736356610.298 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-01-08T17:16:50.298Z,1736356610.298 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-01-08T17:16:50.298Z,1736356610.298 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-01-08T17:16:50.298Z,1736356610.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-01-08T17:16:50.298Z,1736356610.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-01-08T17:16:50.298Z,1736356610.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-01-08T17:16:50.298Z,1736356610.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-01-08T17:16:50.299Z,1736356610.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-01-08T17:16:50.299Z,1736356610.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-01-08T17:16:50.299Z,1736356610.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-01-08T17:16:50.299Z,1736356610.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-01-08T17:16:50.299Z,1736356610.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-01-08T17:16:50.299Z,1736356610.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-01-08T17:16:50.299Z,1736356610.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-01-08T17:16:50.299Z,1736356610.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-01-08T17:16:50.300Z,1736356610.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-01-08T17:16:50.300Z,1736356610.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-01-08T17:16:50.300Z,1736356610.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-01-08T17:16:50.657Z,1736356610.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:50.665Z,1736356610.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-01-08T17:16:50.665Z,1736356610.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-01-08T17:16:50.665Z,1736356610.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-01-08T17:16:50.665Z,1736356610.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-01-08T17:16:50.665Z,1736356610.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-01-08T17:16:50.665Z,1736356610.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-01-08T17:16:50.665Z,1736356610.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-01-08T17:16:50.665Z,1736356610.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-01-08T17:16:50.665Z,1736356610.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-01-08T17:16:50.666Z,1736356610.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-01-08T17:16:50.666Z,1736356610.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-01-08T17:16:50.666Z,1736356610.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-01-08T17:16:50.666Z,1736356610.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-01-08T17:16:50.666Z,1736356610.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-01-08T17:16:50.666Z,1736356610.666 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-01-08T17:16:50.666Z,1736356610.666 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-01-08T17:16:50.666Z,1736356610.666 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-01-08T17:16:50.666Z,1736356610.666 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-01-08T17:16:50.666Z,1736356610.666 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-01-08T17:16:50.666Z,1736356610.666 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-01-08T17:16:50.666Z,1736356610.666 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-01-08T17:16:50.666Z,1736356610.666 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-01-08T17:16:50.666Z,1736356610.666 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-01-08T17:16:50.667Z,1736356610.667 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-01-08T17:16:50.667Z,1736356610.667 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-01-08T17:16:50.668Z,1736356610.668 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.202042 m.
2025-01-08T17:16:50.710Z,1736356610.710 [DockingStepper](INFO): Resume
2025-01-08T17:16:51.093Z,1736356611.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:51.197Z,1736356611.197 [DockingStepper](INFO): Resuming
2025-01-08T17:16:51.483Z,1736356611.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:51.552Z,1736356611.552 [DockingStepper](INFO): Start
2025-01-08T17:16:51.553Z,1736356611.553 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-01-08T17:16:51.553Z,1736356611.553 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-01-08T17:16:51.866Z,1736356611.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:52.081Z,1736356612.081 [DockingStepper](INFO): Starting
2025-01-08T17:16:52.300Z,1736356612.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:52.373Z,1736356612.373 [DockingStepper](INFO): Starting
2025-01-08T17:16:52.678Z,1736356612.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:52.793Z,1736356612.793 [DockingStepper](INFO): Starting
2025-01-08T17:16:52.844Z,1736356612.844 [DockingStepper](INFO): Init string: /1z16351aE13561N3m50
2025-01-08T17:16:53.086Z,1736356613.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:53.224Z,1736356613.224 [DockingStepper](INFO): Starting
2025-01-08T17:16:53.506Z,1736356613.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:53.701Z,1736356613.701 [DockingStepper](INFO): Starting
2025-01-08T17:16:53.884Z,1736356613.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:54.094Z,1736356614.094 [DockingStepper](INFO): Starting
2025-01-08T17:16:54.325Z,1736356614.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:54.384Z,1736356614.384 [DockingStepper](INFO): Starting
2025-01-08T17:16:54.420Z,1736356614.420 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-01-08T17:16:54.702Z,1736356614.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:54.784Z,1736356614.784 [DockingStepper](INFO): Starting
2025-01-08T17:16:55.117Z,1736356615.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:55.225Z,1736356615.225 [DockingStepper](INFO): Changing to mode: 3
2025-01-08T17:16:55.225Z,1736356615.225 [DockingStepper](INFO): Detach mode.
2025-01-08T17:16:55.287Z,1736356615.287 [DockingStepper](INFO): Commanding negative:54476
2025-01-08T17:16:55.560Z,1736356615.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:55.904Z,1736356615.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:56.329Z,1736356616.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:56.735Z,1736356616.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:57.119Z,1736356617.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:57.539Z,1736356617.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:57.926Z,1736356617.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:58.356Z,1736356618.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:58.739Z,1736356618.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:59.136Z,1736356619.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:59.566Z,1736356619.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:16:59.955Z,1736356619.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:00.377Z,1736356620.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:00.756Z,1736356620.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:01.176Z,1736356621.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:01.184Z,1736356621.184 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-01-08T17:17:01.586Z,1736356621.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:01.964Z,1736356621.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:02.398Z,1736356622.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:02.790Z,1736356622.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:03.181Z,1736356623.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:03.625Z,1736356623.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:03.990Z,1736356623.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:04.417Z,1736356624.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:04.800Z,1736356624.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:05.196Z,1736356625.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:05.649Z,1736356625.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:06.016Z,1736356626.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:06.433Z,1736356626.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:06.816Z,1736356626.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:07.218Z,1736356627.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:07.647Z,1736356627.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:08.024Z,1736356628.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:08.467Z,1736356628.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:08.839Z,1736356628.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:09.242Z,1736356629.242 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:09.666Z,1736356629.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:10.045Z,1736356630.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:10.475Z,1736356630.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:10.871Z,1736356630.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:11.028Z,1736356631.028 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:17:11.257Z,1736356631.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:11.680Z,1736356631.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:11.686Z,1736356631.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:17:11.772Z,1736356631.772 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:17:11.773Z,1736356631.773 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:17:12.024Z,1736356632.024 [DAT](INFO): DAT read: 

2025-01-08T17:17:12.025Z,1736356632.025 [DAT](INFO): DAT read: Tx time:17:17:11.1801

2025-01-08T17:17:12.025Z,1736356632.025 [DAT](INFO): Ping request sent.
2025-01-08T17:17:12.025Z,1736356632.025 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:17:12.026Z,1736356632.026 [DAT](INFO): DAT read: TxSync time:17:17:11.1793

2025-01-08T17:17:12.026Z,1736356632.026 [DAT](INFO): publishing transmit ping time
2025-01-08T17:17:12.027Z,1736356632.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001561
2025-01-08T17:17:12.032Z,1736356632.032 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:17:12.105Z,1736356632.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:12.276Z,1736356632.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251135
2025-01-08T17:17:12.513Z,1736356632.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:12.532Z,1736356632.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507209
2025-01-08T17:17:12.784Z,1736356632.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758916
2025-01-08T17:17:12.870Z,1736356632.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:13.041Z,1736356633.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.015062
2025-01-08T17:17:13.281Z,1736356633.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:13.289Z,1736356633.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263470
2025-01-08T17:17:13.540Z,1736356633.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514944
2025-01-08T17:17:13.713Z,1736356633.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:13.793Z,1736356633.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767801
2025-01-08T17:17:14.045Z,1736356634.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019620
2025-01-08T17:17:14.110Z,1736356634.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:14.297Z,1736356634.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271243
2025-01-08T17:17:14.510Z,1736356634.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:14.548Z,1736356634.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523131
2025-01-08T17:17:14.800Z,1736356634.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774943
2025-01-08T17:17:14.900Z,1736356634.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:15.052Z,1736356635.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027002
2025-01-08T17:17:15.305Z,1736356635.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279580
2025-01-08T17:17:15.314Z,1736356635.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:15.556Z,1736356635.556 [DAT](INFO): DAT read: Rx Time:17:17:14.3034

2025-01-08T17:17:15.557Z,1736356635.557 [DAT](INFO): Rx dataTimestamp_ set to:1736356635.556482
2025-01-08T17:17:15.557Z,1736356635.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532050
2025-01-08T17:17:15.741Z,1736356635.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:15.809Z,1736356635.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783438
2025-01-08T17:17:16.065Z,1736356636.065 [DAT](INFO): DAT read: 17:17:14.3034 LVL= 26352, 20241, 11458, 30019, AGC= 70, IDX= 108,-0.25, 1.072, 2.142,-2.648, 2.375, PHS=-1.216,-0.186, 1.257, RAW= 234.5,   1.4, CAL= 237.5,   1.3, ROT= 272.5,  -1.3

2025-01-08T17:17:16.066Z,1736356636.066 [DAT](INFO): got valid direction response:
 17:17:14.3034 LVL= 26352, 20241, 11458, 30019, AGC= 70, IDX= 108,-0.25, 1.072, 2.142,-2.648, 2.375, PHS=-1.216,-0.186, 1.257, RAW= 234.5,   1.4, CAL= 237.5,   1.3, ROT= 272.5,  -1.3

2025-01-08T17:17:16.068Z,1736356636.068 [DAT](INFO): DAT read: Range 10 to 50 : 539.3 m  (Round-trip  719.1 ms) speed -0.1 m/s

2025-01-08T17:17:16.069Z,1736356636.069 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:17:16.070Z,1736356636.070 [DAT](INFO): direction in FSK: [0.043608,-0.998791,0.022687]
2025-01-08T17:17:16.070Z,1736356636.070 [DAT](INFO): publishing direction and range info
2025-01-08T17:17:16.163Z,1736356636.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:16.538Z,1736356636.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:16.545Z,1736356636.545 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-01-08T17:17:16.545Z,1736356636.545 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-01-08T17:17:16.545Z,1736356636.545 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-01-08T17:17:16.546Z,1736356636.546 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 539.299988 m (mode  0.000000 count ).
2025-01-08T17:17:16.547Z,1736356636.547 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-01-08T17:17:16.547Z,1736356636.547 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-01-08T17:17:16.910Z,1736356636.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:16.928Z,1736356636.928 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-01-08T17:17:16.928Z,1736356636.928 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-01-08T17:17:16.929Z,1736356636.929 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:17:17.072Z,1736356637.072 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:17:17.072Z,1736356637.072 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:17:17.072Z,1736356637.072 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:17:17.324Z,1736356637.324 [DAT](INFO): DAT read: user:26>

2025-01-08T17:17:17.325Z,1736356637.325 [DAT](INFO): DAT read: Tx time:17:17:16.4802

2025-01-08T17:17:17.325Z,1736356637.325 [DAT](INFO): Ping request sent.
2025-01-08T17:17:17.325Z,1736356637.325 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:17:17.326Z,1736356637.326 [DAT](INFO): DAT read: TxSync time:17:17:16.4794

2025-01-08T17:17:17.326Z,1736356637.326 [DAT](INFO): publishing transmit ping time
2025-01-08T17:17:17.327Z,1736356637.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001556
2025-01-08T17:17:17.397Z,1736356637.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:17.412Z,1736356637.412 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-01-08T17:17:17.412Z,1736356637.412 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-01-08T17:17:17.578Z,1736356637.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252434
2025-01-08T17:17:17.753Z,1736356637.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:17.778Z,1736356637.778 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-01-08T17:17:17.778Z,1736356637.778 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-01-08T17:17:17.778Z,1736356637.778 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-01-08T17:17:17.778Z,1736356637.778 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-01-08T17:17:17.829Z,1736356637.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503230
2025-01-08T17:17:18.080Z,1736356638.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754908
2025-01-08T17:17:18.151Z,1736356638.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:18.332Z,1736356638.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006828
2025-01-08T17:17:18.577Z,1736356638.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:18.584Z,1736356638.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258892
2025-01-08T17:17:18.836Z,1736356638.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510921
2025-01-08T17:17:18.935Z,1736356638.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:18.941Z,1736356638.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:17:19.090Z,1736356639.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764159
2025-01-08T17:17:19.341Z,1736356639.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015109
2025-01-08T17:17:19.362Z,1736356639.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:19.592Z,1736356639.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266873
2025-01-08T17:17:19.781Z,1736356639.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:19.850Z,1736356639.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524124
2025-01-08T17:17:20.101Z,1736356640.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775890
2025-01-08T17:17:20.156Z,1736356640.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:20.352Z,1736356640.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026855
2025-01-08T17:17:20.605Z,1736356640.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279603
2025-01-08T17:17:20.620Z,1736356640.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:20.856Z,1736356640.856 [DAT](INFO): DAT read: Rx Time:17:17:19.6047

2025-01-08T17:17:20.857Z,1736356640.857 [DAT](INFO): Rx dataTimestamp_ set to:1736356640.856557
2025-01-08T17:17:20.857Z,1736356640.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531964
2025-01-08T17:17:20.965Z,1736356640.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:20.972Z,1736356640.972 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:17:21.108Z,1736356641.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782841
2025-01-08T17:17:21.361Z,1736356641.361 [DAT](INFO): DAT read: Range 10 to 50 : 540.3 m  (Round-trip  720.4 ms) speed  0.0 m/s

2025-01-08T17:17:21.362Z,1736356641.362 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:17:21.363Z,1736356641.363 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:17:21.363Z,1736356641.363 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:17:21.363Z,1736356641.363 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:17:21.378Z,1736356641.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:21.398Z,1736356641.398 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 540.30 m. Transitioning docking module to standby.
2025-01-08T17:17:21.612Z,1736356641.612 [DAT](INFO): DAT read: user:27>

2025-01-08T17:17:21.613Z,1736356641.613 [DAT](INFO): DAT read: Tx time:17:17:20.7802

2025-01-08T17:17:21.613Z,1736356641.613 [DAT](INFO): Ping request sent.
2025-01-08T17:17:21.613Z,1736356641.613 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:17:21.613Z,1736356641.613 [DAT](INFO): publishing transmit ping time
2025-01-08T17:17:21.614Z,1736356641.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-01-08T17:17:21.782Z,1736356641.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:21.865Z,1736356641.865 [DAT](INFO): DAT read: TxSync time:17:17:20.7794

2025-01-08T17:17:21.866Z,1736356641.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252458
2025-01-08T17:17:21.867Z,1736356641.867 [DockingStepper](INFO): Changing to mode: 1
2025-01-08T17:17:21.867Z,1736356641.867 [DockingStepper](INFO): Standby mode.
2025-01-08T17:17:21.927Z,1736356641.927 [DockingStepper](INFO): Commanding positive:54494
2025-01-08T17:17:22.120Z,1736356642.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506352
2025-01-08T17:17:22.192Z,1736356642.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:22.368Z,1736356642.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754902
2025-01-08T17:17:22.635Z,1736356642.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.020936
2025-01-08T17:17:22.662Z,1736356642.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:22.889Z,1736356642.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.275581
2025-01-08T17:17:22.982Z,1736356642.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:23.005Z,1736356643.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:17:23.140Z,1736356643.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.526877
2025-01-08T17:17:23.382Z,1736356643.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:23.392Z,1736356643.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.779084
2025-01-08T17:17:23.644Z,1736356643.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.031007
2025-01-08T17:17:23.810Z,1736356643.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:23.897Z,1736356643.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.283767
2025-01-08T17:17:24.148Z,1736356644.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534907
2025-01-08T17:17:24.216Z,1736356644.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:24.400Z,1736356644.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786985
2025-01-08T17:17:24.652Z,1736356644.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039003
2025-01-08T17:17:24.657Z,1736356644.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:24.905Z,1736356644.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291632
2025-01-08T17:17:25.001Z,1736356645.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:25.008Z,1736356645.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:17:25.157Z,1736356645.157 [DAT](INFO): DAT read: Rx Time:17:17:23.9055

2025-01-08T17:17:25.158Z,1736356645.158 [DAT](INFO): Rx dataTimestamp_ set to:1736356645.157727
2025-01-08T17:17:25.160Z,1736356645.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.546037
2025-01-08T17:17:25.408Z,1736356645.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.795018
2025-01-08T17:17:25.478Z,1736356645.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:25.661Z,1736356645.661 [DAT](INFO): DAT read: Range 10 to 50 : 540.8 m  (Round-trip  721.1 ms) speed -0.3 m/s

2025-01-08T17:17:25.662Z,1736356645.662 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:17:25.662Z,1736356645.662 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:17:25.663Z,1736356645.663 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:17:25.663Z,1736356645.663 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:17:25.831Z,1736356645.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:25.914Z,1736356645.914 [DAT](INFO): DAT read: user:28>

2025-01-08T17:17:25.915Z,1736356645.915 [DAT](INFO): DAT read: Tx time:17:17:25.0802

2025-01-08T17:17:25.915Z,1736356645.915 [DAT](INFO): Ping request sent.
2025-01-08T17:17:25.915Z,1736356645.915 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:17:25.915Z,1736356645.915 [DAT](INFO): publishing transmit ping time
2025-01-08T17:17:25.916Z,1736356645.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000780
2025-01-08T17:17:26.164Z,1736356646.164 [DAT](INFO): DAT read: TxSync time:17:17:25.0794

2025-01-08T17:17:26.165Z,1736356646.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249854
2025-01-08T17:17:26.241Z,1736356646.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:26.417Z,1736356646.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501242
2025-01-08T17:17:26.668Z,1736356646.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753101
2025-01-08T17:17:26.709Z,1736356646.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:26.921Z,1736356646.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004895
2025-01-08T17:17:27.020Z,1736356647.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:27.046Z,1736356647.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:17:27.172Z,1736356647.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256956
2025-01-08T17:17:27.424Z,1736356647.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509138
2025-01-08T17:17:27.426Z,1736356647.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:27.677Z,1736356647.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762130
2025-01-08T17:17:27.851Z,1736356647.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:27.876Z,1736356647.876 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-01-08T17:17:27.929Z,1736356647.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013426
2025-01-08T17:17:28.180Z,1736356648.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265054
2025-01-08T17:17:28.245Z,1736356648.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:28.253Z,1736356648.253 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-01-08T17:17:28.253Z,1736356648.253 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-01-08T17:17:28.253Z,1736356648.253 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-01-08T17:17:28.436Z,1736356648.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520504
2025-01-08T17:17:28.684Z,1736356648.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769037
2025-01-08T17:17:28.723Z,1736356648.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:28.733Z,1736356648.733 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-01-08T17:17:28.733Z,1736356648.733 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-01-08T17:17:28.734Z,1736356648.734 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-01-08T17:17:28.793Z,1736356648.793 [DockingStepper](INFO): Pause
2025-01-08T17:17:28.936Z,1736356648.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021020
2025-01-08T17:17:29.035Z,1736356649.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:29.043Z,1736356649.043 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-01-08T17:17:29.044Z,1736356649.044 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-01-08T17:17:29.044Z,1736356649.044 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-01-08T17:17:29.044Z,1736356649.044 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-01-08T17:17:29.044Z,1736356649.044 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-01-08T17:17:29.189Z,1736356649.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273812
2025-01-08T17:17:29.440Z,1736356649.440 [DAT](INFO): DAT read: Rx Time:17:17:28.2146

2025-01-08T17:17:29.441Z,1736356649.441 [DAT](INFO): Rx dataTimestamp_ set to:1736356649.440470
2025-01-08T17:17:29.441Z,1736356649.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526027
2025-01-08T17:17:29.450Z,1736356649.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:29.457Z,1736356649.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:17:29.458Z,1736356649.458 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-01-08T17:17:29.459Z,1736356649.459 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-01-08T17:17:29.459Z,1736356649.459 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-01-08T17:17:29.459Z,1736356649.459 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-01-08T17:17:29.459Z,1736356649.459 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-01-08T17:17:29.459Z,1736356649.459 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-01-08T17:17:29.460Z,1736356649.460 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-01-08T17:17:29.460Z,1736356649.460 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-01-08T17:17:29.460Z,1736356649.460 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-01-08T17:17:29.460Z,1736356649.460 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-01-08T17:17:29.460Z,1736356649.460 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-01-08T17:17:29.461Z,1736356649.461 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-01-08T17:17:29.461Z,1736356649.461 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-01-08T17:17:29.461Z,1736356649.461 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-01-08T17:17:29.461Z,1736356649.461 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-01-08T17:17:29.462Z,1736356649.462 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 540.799988 m 
2025-01-08T17:17:29.462Z,1736356649.462 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-01-08T17:17:29.462Z,1736356649.462 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-01-08T17:17:29.463Z,1736356649.463 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.903300 arcdeg , -122.119000 arcdeg )
2025-01-08T17:17:29.463Z,1736356649.463 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-01-08T17:17:29.464Z,1736356649.464 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-01-08T17:17:29.464Z,1736356649.464 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-01-08T17:17:29.464Z,1736356649.464 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.903300,-122.119000
2025-01-08T17:17:29.696Z,1736356649.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779804
2025-01-08T17:17:29.870Z,1736356649.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:29.879Z,1736356649.879 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.903300,-122.119000
2025-01-08T17:17:29.880Z,1736356649.880 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-01-08T17:17:29.880Z,1736356649.880 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-01-08T17:17:29.881Z,1736356649.881 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-01-08T17:17:29.881Z,1736356649.881 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-01-08T17:17:29.948Z,1736356649.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031594
2025-01-08T17:17:30.204Z,1736356650.204 [DAT](INFO): DAT read: 17:17:28.2146 LVL= 21056, 20385, 14690, 28835, AGC= 68, IDX= 513,-0.26,-1.074, 0.484, 1.249, 0.325, PHS=-1.312, 0.206, 0.921, RAW= 251.7,   1.9, CAL= 256.0,   3.0, ROT= 254.0,  -3.0

2025-01-08T17:17:30.206Z,1736356650.206 [DAT](INFO): got valid direction response:
 17:17:28.2146 LVL= 21056, 20385, 14690, 28835, AGC= 68, IDX= 513,-0.26,-1.074, 0.484, 1.249, 0.325, PHS=-1.312, 0.206, 0.921, RAW= 251.7,   1.9, CAL= 256.0,   3.0, ROT= 254.0,  -3.0

2025-01-08T17:17:30.208Z,1736356650.208 [DAT](INFO): DAT read: Bearing 254.0,  -3.0 (Local)

2025-01-08T17:17:30.209Z,1736356650.209 [DAT](INFO): Local bearing/azimuth received:
 Bearing 254.0,  -3.0 (Local)

2025-01-08T17:17:30.211Z,1736356650.211 [DAT](INFO): DAT read: Range 10 to 50 : 547.5 m  (Round-trip  730.1 ms) speed -0.2 m/s

2025-01-08T17:17:30.212Z,1736356650.212 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:17:30.213Z,1736356650.213 [DAT](INFO): direction in FSK: [-0.275259,-0.959944,0.052336]
2025-01-08T17:17:30.213Z,1736356650.213 [DAT](INFO): publishing direction and range info
2025-01-08T17:17:30.247Z,1736356650.247 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:17:30.247Z,1736356650.247 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:17:30.256Z,1736356650.256 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:17:30.289Z,1736356650.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:30.311Z,1736356650.311 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-01-08T17:17:30.311Z,1736356650.311 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-01-08T17:17:30.311Z,1736356650.311 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-01-08T17:17:30.327Z,1736356650.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-01-08T17:17:30.327Z,1736356650.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-01-08T17:17:30.327Z,1736356650.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-01-08T17:17:30.327Z,1736356650.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-01-08T17:17:30.327Z,1736356650.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-01-08T17:17:30.327Z,1736356650.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-01-08T17:17:30.328Z,1736356650.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-01-08T17:17:30.328Z,1736356650.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-01-08T17:17:30.328Z,1736356650.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-01-08T17:17:30.328Z,1736356650.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-01-08T17:17:30.328Z,1736356650.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-01-08T17:17:30.328Z,1736356650.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-01-08T17:17:30.328Z,1736356650.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-01-08T17:17:30.328Z,1736356650.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-01-08T17:17:30.328Z,1736356650.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-01-08T17:17:30.328Z,1736356650.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-01-08T17:17:30.329Z,1736356650.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-01-08T17:17:30.329Z,1736356650.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-01-08T17:17:30.329Z,1736356650.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-01-08T17:17:30.330Z,1736356650.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-01-08T17:17:30.330Z,1736356650.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-01-08T17:17:30.330Z,1736356650.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-01-08T17:17:30.330Z,1736356650.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-01-08T17:17:30.331Z,1736356650.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-01-08T17:17:30.331Z,1736356650.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-01-08T17:17:30.335Z,1736356650.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-01-08T17:17:30.335Z,1736356650.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-01-08T17:17:30.336Z,1736356650.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-01-08T17:17:30.336Z,1736356650.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-01-08T17:17:30.336Z,1736356650.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-01-08T17:17:30.338Z,1736356650.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.00.
2025-01-08T17:17:30.338Z,1736356650.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-01-08T17:17:30.338Z,1736356650.338 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-01-08T17:17:30.338Z,1736356650.338 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-01-08T17:17:30.339Z,1736356650.339 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-01-08T17:17:30.339Z,1736356650.339 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-01-08T17:17:30.339Z,1736356650.339 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-01-08T17:17:30.339Z,1736356650.339 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-01-08T17:17:30.339Z,1736356650.339 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-01-08T17:17:30.339Z,1736356650.339 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-01-08T17:17:30.348Z,1736356650.348 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-01-08T17:17:30.448Z,1736356650.448 [DAT](INFO): DAT read: user:29>

2025-01-08T17:17:30.449Z,1736356650.449 [DAT](INFO): DAT read: Tx time:17:17:29.6803

2025-01-08T17:17:30.449Z,1736356650.449 [DAT](INFO): Ping request sent.
2025-01-08T17:17:30.450Z,1736356650.450 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:17:30.450Z,1736356650.450 [DAT](INFO): publishing transmit ping time
2025-01-08T17:17:30.450Z,1736356650.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-01-08T17:17:30.705Z,1736356650.705 [DAT](INFO): DAT read: TxSync time:17:17:29.6795

2025-01-08T17:17:30.707Z,1736356650.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.257451
2025-01-08T17:17:30.722Z,1736356650.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:30.750Z,1736356650.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 547.500000 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-01-08T17:17:30.788Z,1736356650.788 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-01-08T17:17:30.788Z,1736356650.788 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-01-08T17:17:30.948Z,1736356650.948 [DockingStepper](INFO): Resume
2025-01-08T17:17:30.957Z,1736356650.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507815
2025-01-08T17:17:31.094Z,1736356651.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:31.168Z,1736356651.168 [DockingStepper](INFO): Resuming
2025-01-08T17:17:31.206Z,1736356651.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755744
2025-01-08T17:17:31.456Z,1736356651.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006786
2025-01-08T17:17:31.463Z,1736356651.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:31.469Z,1736356651.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:17:31.533Z,1736356651.533 [DockingStepper](INFO): Start
2025-01-08T17:17:31.533Z,1736356651.533 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-01-08T17:17:31.533Z,1736356651.533 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-01-08T17:17:31.712Z,1736356651.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261997
2025-01-08T17:17:31.888Z,1736356651.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:31.960Z,1736356651.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510757
2025-01-08T17:17:32.084Z,1736356652.084 [DockingStepper](INFO): Starting
2025-01-08T17:17:32.212Z,1736356652.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762660
2025-01-08T17:17:32.286Z,1736356652.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:32.460Z,1736356652.460 [DockingStepper](INFO): Starting
2025-01-08T17:17:32.465Z,1736356652.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015889
2025-01-08T17:17:32.721Z,1736356652.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270200
2025-01-08T17:17:32.736Z,1736356652.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:32.848Z,1736356652.848 [DockingStepper](INFO): Starting
2025-01-08T17:17:32.900Z,1736356652.900 [DockingStepper](INFO): Init string: /1z16335aE13561N3m50
2025-01-08T17:17:32.969Z,1736356652.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519206
2025-01-08T17:17:33.097Z,1736356653.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:33.176Z,1736356653.176 [DockingStepper](INFO): Starting
2025-01-08T17:17:33.221Z,1736356653.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771435
2025-01-08T17:17:33.472Z,1736356653.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022866
2025-01-08T17:17:33.491Z,1736356653.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:33.498Z,1736356653.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:17:33.549Z,1736356653.549 [DockingStepper](INFO): Starting
2025-01-08T17:17:33.728Z,1736356653.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277526
2025-01-08T17:17:33.927Z,1736356653.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:33.973Z,1736356653.973 [DockingStepper](INFO): Starting
2025-01-08T17:17:33.978Z,1736356653.978 [DAT](INFO): DAT read: Rx Time:17:17:32.8078

2025-01-08T17:17:33.979Z,1736356653.979 [DAT](INFO): Rx dataTimestamp_ set to:1736356653.978678
2025-01-08T17:17:33.980Z,1736356653.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530077
2025-01-08T17:17:34.228Z,1736356654.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778701
2025-01-08T17:17:34.299Z,1736356654.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:34.378Z,1736356654.378 [DockingStepper](INFO): Starting
2025-01-08T17:17:34.404Z,1736356654.404 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-01-08T17:17:34.480Z,1736356654.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030673
2025-01-08T17:17:34.704Z,1736356654.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:34.781Z,1736356654.781 [DAT](INFO): DAT read: 17:17:32.8078 LVL= 23696, 18993, 16866, 32755, AGC= 71, IDX= 438, 0.41,-0.339, 0.661, 2.005, 0.789, PHS=-1.041,-0.081, 1.213, RAW= 235.1,  -0.9, CAL= 236.6,  -3.0, ROT= 273.4,   3.0

2025-01-08T17:17:34.782Z,1736356654.782 [DAT](INFO): got valid direction response:
 17:17:32.8078 LVL= 23696, 18993, 16866, 32755, AGC= 71, IDX= 438, 0.41,-0.339, 0.661, 2.005, 0.789, PHS=-1.041,-0.081, 1.213, RAW= 235.1,  -0.9, CAL= 236.6,  -3.0, ROT= 273.4,   3.0

2025-01-08T17:17:34.783Z,1736356654.783 [DAT](INFO): DAT read: Bearing 273.4,   3.0 (Local)

2025-01-08T17:17:34.783Z,1736356654.783 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.4,   3.0 (Local)

2025-01-08T17:17:34.793Z,1736356654.793 [DAT](INFO): DAT read: Range 10 to 50 : 542.4 m  (Round-trip  723.3 ms) speed -0.1 m/s

2025-01-08T17:17:34.793Z,1736356654.793 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:17:34.794Z,1736356654.794 [DAT](INFO): direction in FSK: [0.059225,-0.996872,-0.052336]
2025-01-08T17:17:34.795Z,1736356654.795 [DAT](INFO): publishing direction and range info
2025-01-08T17:17:34.807Z,1736356654.807 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:17:34.815Z,1736356654.815 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:17:34.816Z,1736356654.816 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:17:34.837Z,1736356654.837 [DockingStepper](INFO): Starting
2025-01-08T17:17:34.984Z,1736356654.984 [DAT](INFO): DAT read: user:30>

2025-01-08T17:17:34.985Z,1736356654.985 [DAT](INFO): DAT read: Tx time:17:17:34.2303

2025-01-08T17:17:34.985Z,1736356654.985 [DAT](INFO): Ping request sent.
2025-01-08T17:17:34.985Z,1736356654.985 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:17:34.985Z,1736356654.985 [DAT](INFO): publishing transmit ping time
2025-01-08T17:17:34.986Z,1736356654.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762
2025-01-08T17:17:35.130Z,1736356655.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:35.150Z,1736356655.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 542.400024 m,
      deltaT: 4.538046 s,
      deltaX: -5.099976 m,
      approachRate: -1.123826 m/s,
      rangeRepo size: 2

2025-01-08T17:17:35.206Z,1736356655.206 [DockingStepper](INFO): Changing to mode: 1
2025-01-08T17:17:35.206Z,1736356655.206 [DockingStepper](INFO): Standby mode.
2025-01-08T17:17:35.237Z,1736356655.237 [DAT](INFO): DAT read: TxSync time:17:17:34.2295

2025-01-08T17:17:35.238Z,1736356655.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253016
2025-01-08T17:17:35.489Z,1736356655.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503343
2025-01-08T17:17:35.508Z,1736356655.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:35.515Z,1736356655.515 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:17:35.744Z,1736356655.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757684
2025-01-08T17:17:35.928Z,1736356655.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:35.994Z,1736356655.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009130
2025-01-08T17:17:36.244Z,1736356656.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258893
2025-01-08T17:17:36.321Z,1736356656.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:36.498Z,1736356656.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512189
2025-01-08T17:17:36.739Z,1736356656.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:36.761Z,1736356656.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774760
2025-01-08T17:17:37.008Z,1736356657.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022891
2025-01-08T17:17:37.150Z,1736356657.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:37.261Z,1736356657.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275788
2025-01-08T17:17:37.514Z,1736356657.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529116
2025-01-08T17:17:37.540Z,1736356657.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:37.550Z,1736356657.550 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:17:37.767Z,1736356657.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781156
2025-01-08T17:17:37.964Z,1736356657.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:38.016Z,1736356658.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031054
2025-01-08T17:17:38.268Z,1736356658.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283073
2025-01-08T17:17:38.343Z,1736356658.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:38.522Z,1736356658.522 [DAT](INFO): DAT read: Rx Time:17:17:37.3583

2025-01-08T17:17:38.522Z,1736356658.522 [DAT](INFO): Rx dataTimestamp_ set to:1736356658.522071
2025-01-08T17:17:38.523Z,1736356658.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537568
2025-01-08T17:17:38.749Z,1736356658.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:38.776Z,1736356658.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790333
2025-01-08T17:17:39.024Z,1736356659.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038945
2025-01-08T17:17:39.176Z,1736356659.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:39.280Z,1736356659.280 [DAT](INFO): DAT read: Range 10 to 50 : 542.9 m  (Round-trip  723.9 ms) speed -0.1 m/s

2025-01-08T17:17:39.280Z,1736356659.280 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:17:39.281Z,1736356659.281 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:17:39.281Z,1736356659.281 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:17:39.281Z,1736356659.281 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:17:39.530Z,1736356659.530 [DAT](INFO): DAT read: user:31>

2025-01-08T17:17:39.533Z,1736356659.533 [DAT](INFO): DAT read: Tx time:17:17:38.6803

2025-01-08T17:17:39.533Z,1736356659.533 [DAT](INFO): Ping request sent.
2025-01-08T17:17:39.534Z,1736356659.534 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:17:39.536Z,1736356659.536 [DAT](INFO): DAT read: TxSync time:17:17:38.6795

2025-01-08T17:17:39.537Z,1736356659.537 [DAT](INFO): publishing transmit ping time
2025-01-08T17:17:39.539Z,1736356659.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004923
2025-01-08T17:17:39.565Z,1736356659.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:39.593Z,1736356659.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:17:39.606Z,1736356659.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 542.900024 m,
      deltaT: 4.544083 s,
      deltaX: 0.500000 m,
      approachRate: 0.110033 m/s,
      rangeRepo size: 3

2025-01-08T17:17:39.780Z,1736356659.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246966
2025-01-08T17:17:39.971Z,1736356659.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:40.033Z,1736356660.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499223
2025-01-08T17:17:40.284Z,1736356660.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750831
2025-01-08T17:17:40.352Z,1736356660.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:40.537Z,1736356660.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003645
2025-01-08T17:17:40.756Z,1736356660.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:40.792Z,1736356660.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257442
2025-01-08T17:17:41.040Z,1736356661.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506853
2025-01-08T17:17:41.186Z,1736356661.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:41.294Z,1736356661.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760192
2025-01-08T17:17:41.544Z,1736356661.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010777
2025-01-08T17:17:41.561Z,1736356661.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:41.798Z,1736356661.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264162
2025-01-08T17:17:41.998Z,1736356661.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:42.021Z,1736356662.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:17:42.049Z,1736356662.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515189
2025-01-08T17:17:42.168Z,1736356662.168 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:17:42.300Z,1736356662.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766618
2025-01-08T17:17:42.389Z,1736356662.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:42.552Z,1736356662.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018789
2025-01-08T17:17:42.775Z,1736356662.775 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:42.805Z,1736356662.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271882
2025-01-08T17:17:43.056Z,1736356663.056 [DAT](INFO): DAT read: Rx Time:17:17:41.8100

2025-01-08T17:17:43.057Z,1736356663.057 [DAT](INFO): Rx dataTimestamp_ set to:1736356663.056564
2025-01-08T17:17:43.057Z,1736356663.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523927
2025-01-08T17:17:43.172Z,1736356663.172 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:17:43.208Z,1736356663.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:43.310Z,1736356663.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776322
2025-01-08T17:17:43.561Z,1736356663.561 [DAT](INFO): DAT read: Range 10 to 50 : 544.1 m  (Round-trip  725.5 ms) speed -0.2 m/s

2025-01-08T17:17:43.562Z,1736356663.562 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:17:43.563Z,1736356663.563 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:17:43.563Z,1736356663.563 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:17:43.563Z,1736356663.563 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:17:43.586Z,1736356663.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:43.597Z,1736356663.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 544.099976 m,
      deltaT: 4.281500 s,
      deltaX: 1.199951 m,
      approachRate: 0.280264 m/s,
      rangeRepo size: 4

2025-01-08T17:17:43.812Z,1736356663.812 [DAT](INFO): DAT read: user:32>

2025-01-08T17:17:43.813Z,1736356663.813 [DAT](INFO): DAT read: Tx time:17:17:42.9803

2025-01-08T17:17:43.813Z,1736356663.813 [DAT](INFO): Ping request sent.
2025-01-08T17:17:43.813Z,1736356663.813 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:17:43.814Z,1736356663.814 [DAT](INFO): publishing transmit ping time
2025-01-08T17:17:43.814Z,1736356663.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-01-08T17:17:44.017Z,1736356664.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:44.026Z,1736356664.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:17:44.066Z,1736356664.066 [DAT](INFO): DAT read: TxSync time:17:17:42.9795

2025-01-08T17:17:44.068Z,1736356664.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254717
2025-01-08T17:17:44.316Z,1736356664.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502829
2025-01-08T17:17:44.393Z,1736356664.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:44.570Z,1736356664.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756158
2025-01-08T17:17:44.798Z,1736356664.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:44.822Z,1736356664.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008136
2025-01-08T17:17:45.073Z,1736356665.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259345
2025-01-08T17:17:45.230Z,1736356665.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:45.324Z,1736356665.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510943
2025-01-08T17:17:45.579Z,1736356665.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765022
2025-01-08T17:17:45.632Z,1736356665.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:45.828Z,1736356665.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014968
2025-01-08T17:17:46.040Z,1736356666.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:46.052Z,1736356666.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:17:46.081Z,1736356666.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267267
2025-01-08T17:17:46.332Z,1736356666.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518964
2025-01-08T17:17:46.508Z,1736356666.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:46.586Z,1736356666.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772241
2025-01-08T17:17:46.837Z,1736356666.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022869
2025-01-08T17:17:46.978Z,1736356666.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:47.089Z,1736356667.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275334
2025-01-08T17:17:47.341Z,1736356667.341 [DAT](INFO): DAT read: Rx Time:17:17:46.1118

2025-01-08T17:17:47.342Z,1736356667.342 [DAT](INFO): Rx dataTimestamp_ set to:1736356667.341595
2025-01-08T17:17:47.343Z,1736356667.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529447
2025-01-08T17:17:47.463Z,1736356667.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:47.594Z,1736356667.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780373
2025-01-08T17:17:47.847Z,1736356667.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033053
2025-01-08T17:17:47.884Z,1736356667.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:48.102Z,1736356668.102 [DAT](INFO): DAT read: 17:17:46.1118 LVL= 22032, 21489, 18738, 32755, AGC= 67, IDX= 434, 0.37, 1.776,-2.966,-1.907,-3.020, PHS=-1.399, 0.101, 1.110, RAW= 246.5,   1.7, CAL= 250.5,   2.7, ROT= 259.5,  -2.7

2025-01-08T17:17:48.106Z,1736356668.106 [DAT](INFO): got valid direction response:
 17:17:46.1118 LVL= 22032, 21489, 18738, 32755, AGC= 67, IDX= 434, 0.37, 1.776,-2.966,-1.907,-3.020, PHS=-1.399, 0.101, 1.110, RAW= 246.5,   1.7, CAL= 250.5,   2.7, ROT= 259.5,  -2.7

2025-01-08T17:17:48.107Z,1736356668.107 [DAT](INFO): DAT read: Bearing 259.5,  -2.7 (Local)

2025-01-08T17:17:48.108Z,1736356668.108 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.5,  -2.7 (Local)

2025-01-08T17:17:48.109Z,1736356668.109 [DAT](INFO): DAT read: Range 10 to 50 : 545.4 m  (Round-trip  727.2 ms) speed -0.3 m/s

2025-01-08T17:17:48.110Z,1736356668.110 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:17:48.111Z,1736356668.111 [DAT](INFO): direction in FSK: [-0.182033,-0.982163,0.047106]
2025-01-08T17:17:48.111Z,1736356668.111 [DAT](INFO): publishing direction and range info
2025-01-08T17:17:48.118Z,1736356668.118 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:17:48.118Z,1736356668.118 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:17:48.118Z,1736356668.118 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:17:48.313Z,1736356668.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:48.328Z,1736356668.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 545.400024 m,
      deltaT: 4.536274 s,
      deltaX: 1.300049 m,
      approachRate: 0.286590 m/s,
      rangeRepo size: 4

2025-01-08T17:17:48.348Z,1736356668.348 [DAT](INFO): DAT read: user:33>

2025-01-08T17:17:48.349Z,1736356668.349 [DAT](INFO): DAT read: Tx time:17:17:47.5804

2025-01-08T17:17:48.349Z,1736356668.349 [DAT](INFO): Ping request sent.
2025-01-08T17:17:48.349Z,1736356668.349 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:17:48.350Z,1736356668.350 [DAT](INFO): publishing transmit ping time
2025-01-08T17:17:48.350Z,1736356668.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-01-08T17:17:48.601Z,1736356668.601 [DAT](INFO): DAT read: TxSync time:17:17:47.5796

2025-01-08T17:17:48.602Z,1736356668.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252949
2025-01-08T17:17:48.693Z,1736356668.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:48.706Z,1736356668.706 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:17:48.856Z,1736356668.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506876
2025-01-08T17:17:49.108Z,1736356669.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758899
2025-01-08T17:17:49.136Z,1736356669.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:49.360Z,1736356669.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010894
2025-01-08T17:17:49.494Z,1736356669.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:49.613Z,1736356669.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263602
2025-01-08T17:17:49.864Z,1736356669.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514858
2025-01-08T17:17:49.906Z,1736356669.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:50.117Z,1736356670.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767634
2025-01-08T17:17:50.332Z,1736356670.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:50.368Z,1736356670.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018936
2025-01-08T17:17:50.621Z,1736356670.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271683
2025-01-08T17:17:50.733Z,1736356670.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:50.745Z,1736356670.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:17:50.873Z,1736356670.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523633
2025-01-08T17:17:51.124Z,1736356671.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774932
2025-01-08T17:17:51.134Z,1736356671.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:51.378Z,1736356671.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028063
2025-01-08T17:17:51.599Z,1736356671.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:51.628Z,1736356671.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278983
2025-01-08T17:17:51.881Z,1736356671.881 [DAT](INFO): DAT read: Rx Time:17:17:50.7134

2025-01-08T17:17:51.882Z,1736356671.882 [DAT](INFO): Rx dataTimestamp_ set to:1736356671.881179
2025-01-08T17:17:51.883Z,1736356671.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532929
2025-01-08T17:17:52.093Z,1736356672.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:52.133Z,1736356672.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783201
2025-01-08T17:17:52.385Z,1736356672.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035603
2025-01-08T17:17:52.501Z,1736356672.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:52.643Z,1736356672.643 [DAT](INFO): DAT read: 17:17:50.7134 LVL= 25008, 21553, 16882, 26675, AGC= 70, IDX= 436, 0.13,-2.310,-0.763, 0.324,-0.861, PHS=-1.361, 0.144, 1.182, RAW= 246.1,   0.3, CAL= 249.2,   1.0, ROT= 260.8,  -1.0

2025-01-08T17:17:52.644Z,1736356672.644 [DAT](INFO): got valid direction response:
 17:17:50.7134 LVL= 25008, 21553, 16882, 26675, AGC= 70, IDX= 436, 0.13,-2.310,-0.763, 0.324,-0.861, PHS=-1.361, 0.144, 1.182, RAW= 246.1,   0.3, CAL= 249.2,   1.0, ROT= 260.8,  -1.0

2025-01-08T17:17:52.645Z,1736356672.645 [DAT](INFO): DAT read: Bearing 260.8,  -1.0 (Local)

2025-01-08T17:17:52.646Z,1736356672.646 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.8,  -1.0 (Local)

2025-01-08T17:17:52.649Z,1736356672.649 [DAT](INFO): DAT read: Range 10 to 50 : 546.6 m  (Round-trip  728.9 ms) speed  0.0 m/s

2025-01-08T17:17:52.650Z,1736356672.650 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:17:52.653Z,1736356672.653 [DAT](INFO): direction in FSK: [-0.159857,-0.986986,0.017452]
2025-01-08T17:17:52.653Z,1736356672.653 [DAT](INFO): publishing direction and range info
2025-01-08T17:17:52.658Z,1736356672.658 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:17:52.658Z,1736356672.658 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:17:52.658Z,1736356672.658 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:17:52.876Z,1736356672.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:52.889Z,1736356672.889 [DAT](INFO): DAT read: user:34>

2025-01-08T17:17:52.889Z,1736356672.889 [DAT](INFO): DAT read: Tx time:17:17:52.0804

2025-01-08T17:17:52.890Z,1736356672.890 [DAT](INFO): Ping request sent.
2025-01-08T17:17:52.890Z,1736356672.890 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:17:52.890Z,1736356672.890 [DAT](INFO): publishing transmit ping time
2025-01-08T17:17:52.891Z,1736356672.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-01-08T17:17:52.910Z,1736356672.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 546.599976 m,
      deltaT: 4.540717 s,
      deltaX: 1.199951 m,
      approachRate: 0.264265 m/s,
      rangeRepo size: 4

2025-01-08T17:17:53.140Z,1736356673.140 [DAT](INFO): DAT read: TxSync time:17:17:52.0796

2025-01-08T17:17:53.141Z,1736356673.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251404
2025-01-08T17:17:53.296Z,1736356673.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:53.326Z,1736356673.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:17:53.394Z,1736356673.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504461
2025-01-08T17:17:53.645Z,1736356673.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755439
2025-01-08T17:17:53.688Z,1736356673.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:53.896Z,1736356673.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006405
2025-01-08T17:17:54.098Z,1736356674.098 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA,  0.00, 268,-32768,V
2025-01-08T17:17:54.108Z,1736356674.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:17:54.108Z,1736356674.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:54.149Z,1736356674.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258926
2025-01-08T17:17:54.400Z,1736356674.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510347
2025-01-08T17:17:54.494Z,1736356674.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:17:54.494Z,1736356674.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:54.653Z,1736356674.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762863
2025-01-08T17:17:54.898Z,1736356674.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-08T17:17:54.899Z,1736356674.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:54.905Z,1736356674.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014646
2025-01-08T17:17:55.156Z,1736356675.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266332
2025-01-08T17:17:55.335Z,1736356675.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:55.366Z,1736356675.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:17:55.409Z,1736356675.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519332
2025-01-08T17:17:55.660Z,1736356675.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770354
2025-01-08T17:17:55.729Z,1736356675.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:55.912Z,1736356675.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022420
2025-01-08T17:17:56.143Z,1736356676.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:56.164Z,1736356676.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274502
2025-01-08T17:17:56.416Z,1736356676.416 [DAT](INFO): DAT read: Rx Time:17:17:55.2151

2025-01-08T17:17:56.417Z,1736356676.417 [DAT](INFO): Rx dataTimestamp_ set to:1736356676.416468
2025-01-08T17:17:56.417Z,1736356676.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527428
2025-01-08T17:17:56.525Z,1736356676.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:56.670Z,1736356676.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779388
2025-01-08T17:17:56.923Z,1736356676.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032935
2025-01-08T17:17:56.936Z,1736356676.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:57.178Z,1736356677.178 [DAT](INFO): DAT read: 17:17:55.2151 LVL= 21104, 17073, 17074, 30371, AGC= 65, IDX= 453, 0.21,-0.550, 1.130, 2.074, 0.953, PHS=-1.415, 0.225, 1.118, RAW= 249.7,   0.7, CAL= 253.0,   1.5, ROT= 257.0,  -1.5

2025-01-08T17:17:57.179Z,1736356677.179 [DAT](INFO): got valid direction response:
 17:17:55.2151 LVL= 21104, 17073, 17074, 30371, AGC= 65, IDX= 453, 0.21,-0.550, 1.130, 2.074, 0.953, PHS=-1.415, 0.225, 1.118, RAW= 249.7,   0.7, CAL= 253.0,   1.5, ROT= 257.0,  -1.5

2025-01-08T17:17:57.180Z,1736356677.180 [DAT](INFO): DAT read: Bearing 257.0,  -1.5 (Local)

2025-01-08T17:17:57.180Z,1736356677.180 [DAT](INFO): Local bearing/azimuth received:
 Bearing 257.0,  -1.5 (Local)

2025-01-08T17:17:57.181Z,1736356677.181 [DAT](INFO): DAT read: Range 10 to 50 : 547.8 m  (Round-trip  730.5 ms) speed -0.1 m/s

2025-01-08T17:17:57.182Z,1736356677.182 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:17:57.183Z,1736356677.183 [DAT](INFO): direction in FSK: [-0.224874,-0.974036,0.026177]
2025-01-08T17:17:57.184Z,1736356677.184 [DAT](INFO): publishing direction and range info
2025-01-08T17:17:57.192Z,1736356677.192 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:17:57.192Z,1736356677.192 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:17:57.193Z,1736356677.193 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:17:57.352Z,1736356677.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:57.374Z,1736356677.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 547.799988 m,
      deltaT: 4.534889 s,
      deltaX: 1.200012 m,
      approachRate: 0.264618 m/s,
      rangeRepo size: 4

2025-01-08T17:17:57.425Z,1736356677.425 [DAT](INFO): DAT read: user:35>

2025-01-08T17:17:57.426Z,1736356677.426 [DAT](INFO): DAT read: Tx time:17:17:56.6304

2025-01-08T17:17:57.427Z,1736356677.427 [DAT](INFO): Ping request sent.
2025-01-08T17:17:57.427Z,1736356677.427 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:17:57.427Z,1736356677.427 [DAT](INFO): publishing transmit ping time
2025-01-08T17:17:57.428Z,1736356677.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001136
2025-01-08T17:17:57.677Z,1736356677.677 [DAT](INFO): DAT read: TxSync time:17:17:56.6296

2025-01-08T17:17:57.678Z,1736356677.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251191
2025-01-08T17:17:57.749Z,1736356677.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:57.755Z,1736356677.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:17:57.928Z,1736356677.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501629
2025-01-08T17:17:58.185Z,1736356678.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758186
2025-01-08T17:17:58.208Z,1736356678.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:58.437Z,1736356678.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010140
2025-01-08T17:17:58.561Z,1736356678.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:58.616Z,1736356678.616 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-08T17:17:58.691Z,1736356678.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263767
2025-01-08T17:17:58.940Z,1736356678.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513608
2025-01-08T17:17:58.996Z,1736356678.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:59.193Z,1736356679.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765807
2025-01-08T17:17:59.416Z,1736356679.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:59.444Z,1736356679.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017449
2025-01-08T17:17:59.698Z,1736356679.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270990
2025-01-08T17:17:59.867Z,1736356679.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:17:59.875Z,1736356679.875 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:17:59.949Z,1736356679.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522449
2025-01-08T17:18:00.200Z,1736356680.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773509
2025-01-08T17:18:00.269Z,1736356680.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:00.453Z,1736356680.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025952
2025-01-08T17:18:00.655Z,1736356680.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:00.706Z,1736356680.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279155
2025-01-08T17:18:00.957Z,1736356680.957 [DAT](INFO): DAT read: Rx Time:17:17:59.7667

2025-01-08T17:18:00.958Z,1736356680.958 [DAT](INFO): Rx dataTimestamp_ set to:1736356680.957120
2025-01-08T17:18:00.959Z,1736356680.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532249
2025-01-08T17:18:01.074Z,1736356681.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:01.210Z,1736356681.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782469
2025-01-08T17:18:01.463Z,1736356681.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035937
2025-01-08T17:18:01.549Z,1736356681.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:01.722Z,1736356681.722 [DAT](INFO): DAT read: 17:17:59.7667 LVL= 20672, 18753, 15586, 24675, AGC= 66, IDX= 437,-0.33,-0.434, 1.195, 2.102, 1.034, PHS=-1.380, 0.208, 1.065, RAW= 249.8,   1.0, CAL= 253.4,   1.9, ROT= 256.6,  -1.9

2025-01-08T17:18:01.724Z,1736356681.724 [DAT](INFO): got valid direction response:
 17:17:59.7667 LVL= 20672, 18753, 15586, 24675, AGC= 66, IDX= 437,-0.33,-0.434, 1.195, 2.102, 1.034, PHS=-1.380, 0.208, 1.065, RAW= 249.8,   1.0, CAL= 253.4,   1.9, ROT= 256.6,  -1.9

2025-01-08T17:18:01.726Z,1736356681.726 [DAT](INFO): DAT read: Bearing 256.6,  -1.9 (Local)

2025-01-08T17:18:01.728Z,1736356681.728 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.6,  -1.9 (Local)

2025-01-08T17:18:01.731Z,1736356681.731 [DAT](INFO): DAT read: Range 10 to 50 : 549.0 m  (Round-trip  732.1 ms) speed -0.3 m/s

2025-01-08T17:18:01.752Z,1736356681.752 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:18:01.753Z,1736356681.753 [DAT](INFO): direction in FSK: [-0.231620,-0.972241,0.033155]
2025-01-08T17:18:01.753Z,1736356681.753 [DAT](INFO): publishing direction and range info
2025-01-08T17:18:01.770Z,1736356681.770 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:18:01.770Z,1736356681.770 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:18:01.770Z,1736356681.770 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:18:01.878Z,1736356681.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:01.917Z,1736356681.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 549.000000 m,
      deltaT: 4.540286 s,
      deltaX: 1.200012 m,
      approachRate: 0.264303 m/s,
      rangeRepo size: 4

2025-01-08T17:18:01.924Z,1736356681.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 549.000000 m,
      bearing: 268.448534 deg,
      lat: 36.904037 deg,
      lon: -122.119099 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-01-08T17:18:01.925Z,1736356681.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:01.932Z,1736356681.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 546.151611 m,
      bearing: 271.031957 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 12.551347 deg,
      new cmd heading: 271.031957 deg.

2025-01-08T17:18:01.933Z,1736356681.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.730400 target range: 549.000000 and range: 549.00 m.
2025-01-08T17:18:01.964Z,1736356681.964 [DAT](INFO): DAT read: user:36>

2025-01-08T17:18:01.965Z,1736356681.965 [DAT](INFO): DAT read: Tx time:17:18:01.1821

2025-01-08T17:18:01.965Z,1736356681.965 [DAT](INFO): Ping request sent.
2025-01-08T17:18:01.965Z,1736356681.965 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:18:01.966Z,1736356681.966 [DAT](INFO): publishing transmit ping time
2025-01-08T17:18:01.966Z,1736356681.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-01-08T17:18:02.218Z,1736356682.218 [DAT](INFO): DAT read: TxSync time:17:18:01.1813

2025-01-08T17:18:02.220Z,1736356682.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253639
2025-01-08T17:18:02.310Z,1736356682.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:02.317Z,1736356682.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:02.320Z,1736356682.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:02.322Z,1736356682.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 546.241699 m,
      bearing: 271.001820 deg,
      approach rate: 0.223612 m/s,
      LOS rate: -0.074792 deg/s,
      cmd heading: 271.031960 deg,
      new cmd heading: 271.001820 deg.

2025-01-08T17:18:02.344Z,1736356682.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.729874 target range: 549.000000 and range: 549.00 m.
2025-01-08T17:18:02.473Z,1736356682.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507356
2025-01-08T17:18:02.678Z,1736356682.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:02.686Z,1736356682.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:02.690Z,1736356682.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 546.318298 m,
      bearing: 270.976320 deg,
      approach rate: 0.208518 m/s,
      LOS rate: -0.069406 deg/s,
      cmd heading: 271.001826 deg,
      new cmd heading: 270.976320 deg.

2025-01-08T17:18:02.690Z,1736356682.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.729429 target range: 549.000000 and range: 549.00 m.
2025-01-08T17:18:02.725Z,1736356682.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759604
2025-01-08T17:18:02.976Z,1736356682.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010755
2025-01-08T17:18:03.075Z,1736356683.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:03.101Z,1736356683.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:03.109Z,1736356683.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 546.401489 m,
      bearing: 270.948871 deg,
      approach rate: 0.203417 m/s,
      LOS rate: -0.067107 deg/s,
      cmd heading: 270.976308 deg,
      new cmd heading: 270.948871 deg.

2025-01-08T17:18:03.110Z,1736356683.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728950 target range: 549.000000 and range: 549.00 m.
2025-01-08T17:18:03.230Z,1736356683.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264525
2025-01-08T17:18:03.480Z,1736356683.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514787
2025-01-08T17:18:03.535Z,1736356683.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:03.545Z,1736356683.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:03.547Z,1736356683.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 546.516541 m,
      bearing: 270.916628 deg,
      approach rate: 0.256146 m/s,
      LOS rate: -0.071769 deg/s,
      cmd heading: 270.948878 deg,
      new cmd heading: 270.916628 deg.

2025-01-08T17:18:03.548Z,1736356683.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728387 target range: 549.000000 and range: 549.00 m.
2025-01-08T17:18:03.732Z,1736356683.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766960
2025-01-08T17:18:03.892Z,1736356683.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:03.901Z,1736356683.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:03.904Z,1736356683.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 546.607483 m,
      bearing: 270.891670 deg,
      approach rate: 0.255457 m/s,
      LOS rate: -0.070097 deg/s,
      cmd heading: 270.916639 deg,
      new cmd heading: 270.891670 deg.

2025-01-08T17:18:03.905Z,1736356683.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.727952 target range: 549.000000 and range: 549.00 m.
2025-01-08T17:18:03.985Z,1736356683.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019588
2025-01-08T17:18:04.237Z,1736356684.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271742
2025-01-08T17:18:04.313Z,1736356684.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:04.321Z,1736356684.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:04.323Z,1736356684.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:04.325Z,1736356684.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 546.731628 m,
      bearing: 270.862104 deg,
      approach rate: 0.294163 m/s,
      LOS rate: -0.070040 deg/s,
      cmd heading: 270.891668 deg,
      new cmd heading: 270.862104 deg.

2025-01-08T17:18:04.326Z,1736356684.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.727436 target range: 549.000000 and range: 549.00 m.
2025-01-08T17:18:04.488Z,1736356684.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522865
2025-01-08T17:18:04.695Z,1736356684.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:04.709Z,1736356684.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:04.718Z,1736356684.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 546.843262 m,
      bearing: 270.835302 deg,
      approach rate: 0.288865 m/s,
      LOS rate: -0.069339 deg/s,
      cmd heading: 270.862107 deg,
      new cmd heading: 270.835302 deg.

2025-01-08T17:18:04.740Z,1736356684.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774815
2025-01-08T17:18:04.719Z,1736356684.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.726968 target range: 549.000000 and range: 549.00 m.
2025-01-08T17:18:04.992Z,1736356684.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026750
2025-01-08T17:18:05.095Z,1736356685.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:05.105Z,1736356685.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:05.107Z,1736356685.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 546.959045 m,
      bearing: 270.807038 deg,
      approach rate: 0.292717 m/s,
      LOS rate: -0.071442 deg/s,
      cmd heading: 270.835305 deg,
      new cmd heading: 270.807038 deg.

2025-01-08T17:18:05.108Z,1736356685.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.726474 target range: 549.000000 and range: 549.00 m.
2025-01-08T17:18:05.245Z,1736356685.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279677
2025-01-08T17:18:05.496Z,1736356685.496 [DAT](INFO): DAT read: Rx Time:17:18:04.3208

2025-01-08T17:18:05.497Z,1736356685.497 [DAT](INFO): Rx dataTimestamp_ set to:1736356685.496610
2025-01-08T17:18:05.497Z,1736356685.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531945
2025-01-08T17:18:05.594Z,1736356685.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:05.612Z,1736356685.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:05.614Z,1736356685.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.118652 m,
      bearing: 270.771690 deg,
      approach rate: 0.315010 m/s,
      LOS rate: -0.069744 deg/s,
      cmd heading: 270.807029 deg,
      new cmd heading: 270.771690 deg.

2025-01-08T17:18:05.615Z,1736356685.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.725858 target range: 549.000000 and range: 549.00 m.
2025-01-08T17:18:05.754Z,1736356685.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788198
2025-01-08T17:18:05.921Z,1736356685.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:05.934Z,1736356685.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:05.938Z,1736356685.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.218994 m,
      bearing: 270.748287 deg,
      approach rate: 0.313954 m/s,
      LOS rate: -0.073211 deg/s,
      cmd heading: 270.771703 deg,
      new cmd heading: 270.748287 deg.

2025-01-08T17:18:05.939Z,1736356685.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.725449 target range: 549.000000 and range: 549.00 m.
2025-01-08T17:18:06.000Z,1736356686.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034914
2025-01-08T17:18:06.254Z,1736356686.254 [DAT](INFO): DAT read: Range 10 to 50 : 550.8 m  (Round-trip  734.5 ms) speed -0.4 m/s

2025-01-08T17:18:06.254Z,1736356686.254 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:18:06.255Z,1736356686.255 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:18:06.255Z,1736356686.255 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:18:06.255Z,1736356686.255 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:18:06.342Z,1736356686.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:06.349Z,1736356686.349 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:06.352Z,1736356686.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 550.799988 m,
      deltaT: 4.539782 s,
      deltaX: 1.799988 m,
      approachRate: 0.396492 m/s,
      rangeRepo size: 4

2025-01-08T17:18:06.352Z,1736356686.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:06.356Z,1736356686.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.345886 m,
      bearing: 270.717565 deg,
      approach rate: 0.302204 m/s,
      LOS rate: -0.073150 deg/s,
      cmd heading: 270.748289 deg,
      new cmd heading: 270.717565 deg.

2025-01-08T17:18:06.357Z,1736356686.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.724913 target range: 549.000000 and range: 550.80 m.
2025-01-08T17:18:06.505Z,1736356686.505 [DAT](INFO): DAT read: user:37>

2025-01-08T17:18:06.505Z,1736356686.505 [DAT](INFO): DAT read: Tx time:17:18:05.6805

2025-01-08T17:18:06.506Z,1736356686.506 [DAT](INFO): Ping request sent.
2025-01-08T17:18:06.506Z,1736356686.506 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:18:06.506Z,1736356686.506 [DAT](INFO): publishing transmit ping time
2025-01-08T17:18:06.507Z,1736356686.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-01-08T17:18:06.724Z,1736356686.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:06.757Z,1736356686.757 [DAT](INFO): DAT read: TxSync time:17:18:05.6797

2025-01-08T17:18:06.757Z,1736356686.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251436
2025-01-08T17:18:06.758Z,1736356686.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:06.765Z,1736356686.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.455688 m,
      bearing: 270.689496 deg,
      approach rate: 0.285586 m/s,
      LOS rate: -0.072990 deg/s,
      cmd heading: 270.717553 deg,
      new cmd heading: 270.689496 deg.

2025-01-08T17:18:06.765Z,1736356686.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.724423 target range: 549.000000 and range: 550.80 m.
2025-01-08T17:18:07.008Z,1736356687.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502515
2025-01-08T17:18:07.126Z,1736356687.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:07.134Z,1736356687.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:07.139Z,1736356687.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.564331 m,
      bearing: 270.659586 deg,
      approach rate: 0.272433 m/s,
      LOS rate: -0.074988 deg/s,
      cmd heading: 270.689495 deg,
      new cmd heading: 270.659586 deg.

2025-01-08T17:18:07.140Z,1736356687.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.723901 target range: 549.000000 and range: 550.80 m.
2025-01-08T17:18:07.260Z,1736356687.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754505
2025-01-08T17:18:07.514Z,1736356687.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007891
2025-01-08T17:18:07.563Z,1736356687.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:07.585Z,1736356687.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:07.593Z,1736356687.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.653748 m,
      bearing: 270.626468 deg,
      approach rate: 0.198282 m/s,
      LOS rate: -0.073427 deg/s,
      cmd heading: 270.659578 deg,
      new cmd heading: 270.626468 deg.

2025-01-08T17:18:07.593Z,1736356687.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.723323 target range: 549.000000 and range: 550.80 m.
2025-01-08T17:18:07.764Z,1736356687.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258294
2025-01-08T17:18:07.941Z,1736356687.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:07.951Z,1736356687.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:07.954Z,1736356687.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.722107 m,
      bearing: 270.597598 deg,
      approach rate: 0.186925 m/s,
      LOS rate: -0.078934 deg/s,
      cmd heading: 270.626466 deg,
      new cmd heading: 270.597598 deg.

2025-01-08T17:18:07.955Z,1736356687.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.722819 target range: 549.000000 and range: 550.80 m.
2025-01-08T17:18:08.017Z,1736356688.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511451
2025-01-08T17:18:08.271Z,1736356688.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764952
2025-01-08T17:18:08.363Z,1736356688.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:08.371Z,1736356688.371 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:08.377Z,1736356688.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:08.381Z,1736356688.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.781189 m,
      bearing: 270.567429 deg,
      approach rate: 0.138550 m/s,
      LOS rate: -0.070740 deg/s,
      cmd heading: 270.597588 deg,
      new cmd heading: 270.567429 deg.

2025-01-08T17:18:08.382Z,1736356688.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.722292 target range: 549.000000 and range: 550.80 m.
2025-01-08T17:18:08.521Z,1736356688.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015223
2025-01-08T17:18:08.748Z,1736356688.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:08.757Z,1736356688.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:08.760Z,1736356688.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.829773 m,
      bearing: 270.538110 deg,
      approach rate: 0.127902 m/s,
      LOS rate: -0.077177 deg/s,
      cmd heading: 270.567425 deg,
      new cmd heading: 270.538110 deg.

2025-01-08T17:18:08.761Z,1736356688.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.721781 target range: 549.000000 and range: 550.80 m.
2025-01-08T17:18:08.772Z,1736356688.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266516
2025-01-08T17:18:09.025Z,1736356689.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518880
2025-01-08T17:18:09.135Z,1736356689.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:09.146Z,1736356689.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:09.149Z,1736356689.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.869141 m,
      bearing: 270.509366 deg,
      approach rate: 0.101084 m/s,
      LOS rate: -0.073800 deg/s,
      cmd heading: 270.538110 deg,
      new cmd heading: 270.509366 deg.

2025-01-08T17:18:09.150Z,1736356689.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.721279 target range: 549.000000 and range: 550.80 m.
2025-01-08T17:18:09.277Z,1736356689.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771127
2025-01-08T17:18:09.528Z,1736356689.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022260
2025-01-08T17:18:09.654Z,1736356689.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:09.664Z,1736356689.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:09.666Z,1736356689.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.897034 m,
      bearing: 270.472048 deg,
      approach rate: 0.053975 m/s,
      LOS rate: -0.072210 deg/s,
      cmd heading: 270.509369 deg,
      new cmd heading: 270.472048 deg.

2025-01-08T17:18:09.667Z,1736356689.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.720628 target range: 549.000000 and range: 550.80 m.
2025-01-08T17:18:09.782Z,1736356689.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275513
2025-01-08T17:18:10.026Z,1736356690.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:10.032Z,1736356690.032 [DAT](INFO): DAT read: Rx Time:17:18:08.8211

2025-01-08T17:18:10.033Z,1736356690.033 [DAT](INFO): Rx dataTimestamp_ set to:1736356690.032609
2025-01-08T17:18:10.033Z,1736356690.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527569
2025-01-08T17:18:10.038Z,1736356690.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:10.040Z,1736356690.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.909546 m,
      bearing: 270.445329 deg,
      approach rate: 0.033414 m/s,
      LOS rate: -0.071350 deg/s,
      cmd heading: 270.472049 deg,
      new cmd heading: 270.445329 deg.

2025-01-08T17:18:10.041Z,1736356690.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.720161 target range: 549.000000 and range: 550.80 m.
2025-01-08T17:18:10.290Z,1736356690.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782944
2025-01-08T17:18:10.504Z,1736356690.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:10.511Z,1736356690.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:10.538Z,1736356690.538 [DAT](INFO): DAT read: Range 10 to 50 : 552.3 m  (Round-trip  736.5 ms) speed -0.1 m/s

2025-01-08T17:18:10.539Z,1736356690.539 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:18:10.540Z,1736356690.540 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:18:10.540Z,1736356690.540 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:18:10.540Z,1736356690.540 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:18:10.547Z,1736356690.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 552.299988 m,
      deltaT: 4.284396 s,
      deltaX: 1.500000 m,
      approachRate: 0.350108 m/s,
      rangeRepo size: 4

2025-01-08T17:18:10.552Z,1736356690.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:10.555Z,1736356690.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.899902 m,
      bearing: 270.412602 deg,
      approach rate: -0.018964 m/s,
      LOS rate: -0.064359 deg/s,
      cmd heading: 270.445329 deg,
      new cmd heading: 270.412602 deg.

2025-01-08T17:18:10.561Z,1736356690.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.719590 target range: 549.000000 and range: 552.30 m.
2025-01-08T17:18:10.788Z,1736356690.788 [DAT](INFO): DAT read: user:38>

2025-01-08T17:18:10.789Z,1736356690.789 [DAT](INFO): DAT read: Tx time:17:18:09.9805

2025-01-08T17:18:10.789Z,1736356690.789 [DAT](INFO): Ping request sent.
2025-01-08T17:18:10.790Z,1736356690.790 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:18:10.790Z,1736356690.790 [DAT](INFO): publishing transmit ping time
2025-01-08T17:18:10.790Z,1736356690.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000773
2025-01-08T17:18:10.916Z,1736356690.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:10.929Z,1736356690.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:10.931Z,1736356690.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.883484 m,
      bearing: 270.384293 deg,
      approach rate: -0.042937 m/s,
      LOS rate: -0.074034 deg/s,
      cmd heading: 270.412599 deg,
      new cmd heading: 270.384293 deg.

2025-01-08T17:18:10.932Z,1736356690.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.719096 target range: 549.000000 and range: 552.30 m.
2025-01-08T17:18:11.040Z,1736356691.040 [DAT](INFO): DAT read: TxSync time:17:18:09.9797

2025-01-08T17:18:11.041Z,1736356691.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251647
2025-01-08T17:18:11.298Z,1736356691.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505240
2025-01-08T17:18:11.368Z,1736356691.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:11.392Z,1736356691.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:11.394Z,1736356691.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.851868 m,
      bearing: 270.355137 deg,
      approach rate: -0.068920 m/s,
      LOS rate: -0.063560 deg/s,
      cmd heading: 270.384294 deg,
      new cmd heading: 270.355137 deg.

2025-01-08T17:18:11.395Z,1736356691.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.718587 target range: 549.000000 and range: 552.30 m.
2025-01-08T17:18:11.545Z,1736356691.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755420
2025-01-08T17:18:11.738Z,1736356691.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:11.747Z,1736356691.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:11.749Z,1736356691.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.818726 m,
      bearing: 270.331451 deg,
      approach rate: -0.092218 m/s,
      LOS rate: -0.065913 deg/s,
      cmd heading: 270.355143 deg,
      new cmd heading: 270.331451 deg.

2025-01-08T17:18:11.750Z,1736356691.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.718174 target range: 549.000000 and range: 552.30 m.
2025-01-08T17:18:11.798Z,1736356691.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008706
2025-01-08T17:18:12.048Z,1736356692.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258670
2025-01-08T17:18:12.185Z,1736356692.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:12.196Z,1736356692.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:12.199Z,1736356692.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.770081 m,
      bearing: 270.302927 deg,
      approach rate: -0.108149 m/s,
      LOS rate: -0.063420 deg/s,
      cmd heading: 270.331456 deg,
      new cmd heading: 270.302927 deg.

2025-01-08T17:18:12.200Z,1736356692.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717676 target range: 549.000000 and range: 552.30 m.
2025-01-08T17:18:12.304Z,1736356692.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513425
2025-01-08T17:18:12.552Z,1736356692.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762567
2025-01-08T17:18:12.636Z,1736356692.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:12.650Z,1736356692.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:12.668Z,1736356692.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:12.676Z,1736356692.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.716370 m,
      bearing: 270.275415 deg,
      approach rate: -0.113924 m/s,
      LOS rate: -0.058360 deg/s,
      cmd heading: 270.302933 deg,
      new cmd heading: 270.275415 deg.

2025-01-08T17:18:12.676Z,1736356692.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717196 target range: 549.000000 and range: 552.30 m.
2025-01-08T17:18:12.805Z,1736356692.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015244
2025-01-08T17:18:13.057Z,1736356693.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267429
2025-01-08T17:18:13.118Z,1736356693.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:13.141Z,1736356693.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:13.148Z,1736356693.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.634094 m,
      bearing: 270.246565 deg,
      approach rate: -0.173987 m/s,
      LOS rate: -0.061018 deg/s,
      cmd heading: 270.275421 deg,
      new cmd heading: 270.246565 deg.

2025-01-08T17:18:13.149Z,1736356693.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716692 target range: 549.000000 and range: 552.30 m.
2025-01-08T17:18:13.309Z,1736356693.309 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:18:13.317Z,1736356693.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526405
2025-01-08T17:18:13.564Z,1736356693.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774799
2025-01-08T17:18:13.636Z,1736356693.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:13.659Z,1736356693.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:13.662Z,1736356693.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.540344 m,
      bearing: 270.216772 deg,
      approach rate: -0.182259 m/s,
      LOS rate: -0.057930 deg/s,
      cmd heading: 270.246571 deg,
      new cmd heading: 270.216772 deg.

2025-01-08T17:18:13.663Z,1736356693.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716172 target range: 549.000000 and range: 552.30 m.
2025-01-08T17:18:13.816Z,1736356693.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026732
2025-01-08T17:18:13.985Z,1736356693.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:13.993Z,1736356693.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:14.020Z,1736356694.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.470215 m,
      bearing: 270.196434 deg,
      approach rate: -0.207460 m/s,
      LOS rate: -0.060172 deg/s,
      cmd heading: 270.216764 deg,
      new cmd heading: 270.196434 deg.

2025-01-08T17:18:14.021Z,1736356694.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715817 target range: 549.000000 and range: 552.30 m.
2025-01-08T17:18:14.069Z,1736356694.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278910
2025-01-08T17:18:14.313Z,1736356694.313 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:18:14.324Z,1736356694.324 [DAT](INFO): DAT read: Rx Time:17:18:13.1208

2025-01-08T17:18:14.326Z,1736356694.326 [DAT](INFO): Rx dataTimestamp_ set to:1736356694.324635
2025-01-08T17:18:14.332Z,1736356694.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.541824
2025-01-08T17:18:14.448Z,1736356694.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:14.458Z,1736356694.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:14.461Z,1736356694.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.372925 m,
      bearing: 270.170337 deg,
      approach rate: -0.209170 m/s,
      LOS rate: -0.056119 deg/s,
      cmd heading: 270.196437 deg,
      new cmd heading: 270.170337 deg.

2025-01-08T17:18:14.462Z,1736356694.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715362 target range: 549.000000 and range: 552.30 m.
2025-01-08T17:18:14.574Z,1736356694.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784802
2025-01-08T17:18:14.793Z,1736356694.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:14.800Z,1736356694.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:14.802Z,1736356694.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.00 m.
2025-01-08T17:18:14.805Z,1736356694.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 549.000000 m,
      nav range: 547.295532 m,
      bearing: 270.151145 deg,
      approach rate: -0.225483 m/s,
      LOS rate: -0.055923 deg/s,
      cmd heading: 270.170346 deg,
      new cmd heading: 270.151145 deg.

2025-01-08T17:18:14.806Z,1736356694.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715027 target range: 549.000000 and range: 552.30 m.
2025-01-08T17:18:14.829Z,1736356694.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039368
2025-01-08T17:18:15.082Z,1736356695.082 [DAT](INFO): DAT read: 17:18:13.1208 LVL= 23520, 29489, 12594, 28563, AGC= 69, IDX= 414, 0.39, 3.047,-2.798,-0.964,-2.202, PHS=-0.946,-0.549, 1.235, RAW= 219.8,   2.6, CAL= 221.1,  -1.9, ROT= 288.9,   1.9

2025-01-08T17:18:15.084Z,1736356695.084 [DAT](INFO): got valid direction response:
 17:18:13.1208 LVL= 23520, 29489, 12594, 28563, AGC= 69, IDX= 414, 0.39, 3.047,-2.798,-0.964,-2.202, PHS=-0.946,-0.549, 1.235, RAW= 219.8,   2.6, CAL= 221.1,  -1.9, ROT= 288.9,   1.9

2025-01-08T17:18:15.086Z,1736356695.086 [DAT](INFO): DAT read: Bearing 288.9,   1.9 (Local)

2025-01-08T17:18:15.087Z,1736356695.087 [DAT](INFO): Local bearing/azimuth received:
 Bearing 288.9,   1.9 (Local)

2025-01-08T17:18:15.089Z,1736356695.089 [DAT](INFO): DAT read: Range 10 to 50 : 552.0 m  (Round-trip  736.1 ms) speed  0.1 m/s

2025-01-08T17:18:15.090Z,1736356695.090 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:18:15.092Z,1736356695.092 [DAT](INFO): direction in FSK: [0.323739,-0.945565,-0.033155]
2025-01-08T17:18:15.092Z,1736356695.092 [DAT](INFO): publishing direction and range info
2025-01-08T17:18:15.095Z,1736356695.095 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:18:15.096Z,1736356695.096 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:18:15.096Z,1736356695.096 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:18:15.229Z,1736356695.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:15.250Z,1736356695.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 552.000000 m,
      deltaT: 4.540241 s,
      deltaX: -0.299988 m,
      approachRate: -0.066073 m/s,
      rangeRepo size: 4

2025-01-08T17:18:15.257Z,1736356695.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 552.000000 m,
      bearing: 259.033718 deg,
      lat: 36.903881 deg,
      lon: -122.119099 deg,
      deltaT: 13.364419 s,
      deltaX: 3.000000 m,
      approachRate: 0.224477 m/s,
      posRepo size: 2

2025-01-08T17:18:15.258Z,1736356695.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 552.00 m.
2025-01-08T17:18:15.269Z,1736356695.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 552.000000 m,
      nav range: 547.427429 m,
      bearing: 268.316803 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.055923 deg/s,
      cmd heading: 270.151139 deg,
      new cmd heading: 270.075939 deg.

2025-01-08T17:18:15.271Z,1736356695.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713715 target range: 552.000000 and range: 552.00 m.
2025-01-08T17:18:15.330Z,1736356695.330 [DAT](INFO): DAT read: user:39>

2025-01-08T17:18:15.333Z,1736356695.333 [DAT](INFO): DAT read: Tx time:17:18:14.5306

2025-01-08T17:18:15.334Z,1736356695.334 [DAT](INFO): Ping request sent.
2025-01-08T17:18:15.335Z,1736356695.335 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:18:15.336Z,1736356695.336 [DAT](INFO): publishing transmit ping time
2025-01-08T17:18:15.339Z,1736356695.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003952
2025-01-08T17:18:15.581Z,1736356695.581 [DAT](INFO): DAT read: TxSync time:17:18:14.5298

2025-01-08T17:18:15.582Z,1736356695.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247925
2025-01-08T17:18:15.774Z,1736356695.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:15.783Z,1736356695.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 552.00 m.
2025-01-08T17:18:15.787Z,1736356695.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 552.000000 m,
      nav range: 547.293884 m,
      bearing: 268.286970 deg,
      approach rate: -0.250555 m/s,
      LOS rate: -0.055985 deg/s,
      cmd heading: 270.075952 deg,
      new cmd heading: 269.986433 deg.

2025-01-08T17:18:15.788Z,1736356695.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712152 target range: 552.000000 and range: 552.00 m.
2025-01-08T17:18:15.832Z,1736356695.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498140
2025-01-08T17:18:16.085Z,1736356696.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750724
2025-01-08T17:18:16.150Z,1736356696.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:16.175Z,1736356696.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 552.00 m.
2025-01-08T17:18:16.178Z,1736356696.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 552.000000 m,
      nav range: 547.196899 m,
      bearing: 268.266706 deg,
      approach rate: -0.247495 m/s,
      LOS rate: -0.051720 deg/s,
      cmd heading: 269.986422 deg,
      new cmd heading: 269.925620 deg.

2025-01-08T17:18:16.179Z,1736356696.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711091 target range: 552.000000 and range: 552.00 m.
2025-01-08T17:18:16.340Z,1736356696.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004678
2025-01-08T17:18:16.592Z,1736356696.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257901
2025-01-08T17:18:16.676Z,1736356696.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:16.685Z,1736356696.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 552.00 m.
2025-01-08T17:18:16.689Z,1736356696.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 552.000000 m,
      nav range: 547.050293 m,
      bearing: 268.238846 deg,
      approach rate: -0.287424 m/s,
      LOS rate: -0.054635 deg/s,
      cmd heading: 269.925606 deg,
      new cmd heading: 269.842003 deg.

2025-01-08T17:18:16.690Z,1736356696.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709631 target range: 552.000000 and range: 552.00 m.
2025-01-08T17:18:16.840Z,1736356696.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506082
2025-01-08T17:18:17.049Z,1736356697.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:17.058Z,1736356697.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:17.060Z,1736356697.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 552.00 m.
2025-01-08T17:18:17.063Z,1736356697.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 552.000000 m,
      nav range: 546.941895 m,
      bearing: 268.219436 deg,
      approach rate: -0.288680 m/s,
      LOS rate: -0.051701 deg/s,
      cmd heading: 269.842005 deg,
      new cmd heading: 269.783764 deg.

2025-01-08T17:18:17.064Z,1736356697.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708615 target range: 552.000000 and range: 552.00 m.
2025-01-08T17:18:17.094Z,1736356697.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759454
2025-01-08T17:18:17.348Z,1736356697.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013306
2025-01-08T17:18:17.482Z,1736356697.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:17.512Z,1736356697.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 552.00 m.
2025-01-08T17:18:17.515Z,1736356697.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 552.000000 m,
      nav range: 546.828979 m,
      bearing: 268.196585 deg,
      approach rate: -0.249821 m/s,
      LOS rate: -0.050569 deg/s,
      cmd heading: 269.783757 deg,
      new cmd heading: 269.715188 deg.

2025-01-08T17:18:17.522Z,1736356697.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707418 target range: 552.000000 and range: 552.00 m.
2025-01-08T17:18:17.597Z,1736356697.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262665
2025-01-08T17:18:17.848Z,1736356697.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514070
2025-01-08T17:18:17.888Z,1736356697.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:17.905Z,1736356697.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 552.00 m.
2025-01-08T17:18:17.912Z,1736356697.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 552.000000 m,
      nav range: 546.714966 m,
      bearing: 268.176252 deg,
      approach rate: -0.290175 m/s,
      LOS rate: -0.051760 deg/s,
      cmd heading: 269.715182 deg,
      new cmd heading: 269.654170 deg.

2025-01-08T17:18:17.913Z,1736356697.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706353 target range: 552.000000 and range: 552.00 m.
2025-01-08T17:18:18.102Z,1736356698.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767562
2025-01-08T17:18:18.258Z,1736356698.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:18.266Z,1736356698.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 552.00 m.
2025-01-08T17:18:18.270Z,1736356698.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 552.000000 m,
      nav range: 546.601318 m,
      bearing: 268.157160 deg,
      approach rate: -0.314578 m/s,
      LOS rate: -0.052857 deg/s,
      cmd heading: 269.654175 deg,
      new cmd heading: 269.596888 deg.

2025-01-08T17:18:18.271Z,1736356698.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705353 target range: 552.000000 and range: 552.00 m.
2025-01-08T17:18:18.353Z,1736356698.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018301
2025-01-08T17:18:18.605Z,1736356698.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270484
2025-01-08T17:18:18.767Z,1736356698.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:18.777Z,1736356698.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 552.00 m.
2025-01-08T17:18:18.800Z,1736356698.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 552.000000 m,
      nav range: 546.460693 m,
      bearing: 268.131929 deg,
      approach rate: -0.275455 m/s,
      LOS rate: -0.049434 deg/s,
      cmd heading: 269.596883 deg,
      new cmd heading: 269.521171 deg.

2025-01-08T17:18:18.801Z,1736356698.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704032 target range: 552.000000 and range: 552.00 m.
2025-01-08T17:18:18.857Z,1736356698.857 [DAT](INFO): DAT read: Rx Time:17:18:17.6697

2025-01-08T17:18:18.858Z,1736356698.858 [DAT](INFO): Rx dataTimestamp_ set to:1736356698.857650
2025-01-08T17:18:18.859Z,1736356698.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524575
2025-01-08T17:18:19.109Z,1736356699.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774691
2025-01-08T17:18:19.164Z,1736356699.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:19.171Z,1736356699.171 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:19.173Z,1736356699.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 552.00 m.
2025-01-08T17:18:19.176Z,1736356699.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 552.000000 m,
      nav range: 546.345947 m,
      bearing: 268.112539 deg,
      approach rate: -0.289590 m/s,
      LOS rate: -0.048947 deg/s,
      cmd heading: 269.521177 deg,
      new cmd heading: 269.462994 deg.

2025-01-08T17:18:19.177Z,1736356699.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703016 target range: 552.000000 and range: 552.00 m.
2025-01-08T17:18:19.366Z,1736356699.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031138
2025-01-08T17:18:19.618Z,1736356699.618 [DAT](INFO): DAT read: 17:18:17.6697 LVL= 31728, 32353, 22514, 32755, AGC= 65, IDX= 433, 0.37, 1.747, 1.330,-2.854, 2.423, PHS=-0.588,-1.046, 1.003, RAW= 197.7,   6.8, CAL= 198.4,  -1.5, ROT= 311.6,   1.5

2025-01-08T17:18:19.620Z,1736356699.620 [DAT](INFO): got valid direction response:
 17:18:17.6697 LVL= 31728, 32353, 22514, 32755, AGC= 65, IDX= 433, 0.37, 1.747, 1.330,-2.854, 2.423, PHS=-0.588,-1.046, 1.003, RAW= 197.7,   6.8, CAL= 198.4,  -1.5, ROT= 311.6,   1.5

2025-01-08T17:18:19.621Z,1736356699.621 [DAT](INFO): DAT read: Bearing 311.6,   1.5 (Local)

2025-01-08T17:18:19.621Z,1736356699.621 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.6,   1.5 (Local)

2025-01-08T17:18:19.623Z,1736356699.623 [DAT](INFO): DAT read: Range 10 to 50 : 551.1 m  (Round-trip  734.9 ms) speed  0.2 m/s

2025-01-08T17:18:19.632Z,1736356699.632 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:18:19.633Z,1736356699.633 [DAT](INFO): direction in FSK: [0.663699,-0.747542,-0.026177]
2025-01-08T17:18:19.633Z,1736356699.633 [DAT](INFO): publishing direction and range info
2025-01-08T17:18:19.645Z,1736356699.645 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:18:19.645Z,1736356699.645 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:18:19.646Z,1736356699.646 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:18:19.777Z,1736356699.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:19.809Z,1736356699.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 551.099976 m,
      deltaT: 4.535458 s,
      deltaX: -0.900024 m,
      approachRate: -0.198442 m/s,
      rangeRepo size: 4

2025-01-08T17:18:19.816Z,1736356699.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 551.099976 m,
      bearing: 264.595508 deg,
      lat: 36.903816 deg,
      lon: -122.119099 deg,
      deltaT: 4.535458 s,
      deltaX: -0.900024 m,
      approachRate: -0.198442 m/s,
      posRepo size: 3

2025-01-08T17:18:19.817Z,1736356699.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:19.823Z,1736356699.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 546.482727 m,
      bearing: 267.316540 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.048947 deg/s,
      cmd heading: 269.462984 deg,
      new cmd heading: 269.369650 deg.

2025-01-08T17:18:19.824Z,1736356699.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701387 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:19.865Z,1736356699.865 [DAT](INFO): DAT read: user:40>

2025-01-08T17:18:19.866Z,1736356699.866 [DAT](INFO): DAT read: Tx time:17:18:19.0806

2025-01-08T17:18:19.867Z,1736356699.867 [DAT](INFO): Ping request sent.
2025-01-08T17:18:19.867Z,1736356699.867 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:18:19.868Z,1736356699.868 [DAT](INFO): publishing transmit ping time
2025-01-08T17:18:19.869Z,1736356699.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001800
2025-01-08T17:18:20.118Z,1736356700.118 [DAT](INFO): DAT read: TxSync time:17:18:19.0798

2025-01-08T17:18:20.121Z,1736356700.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253708
2025-01-08T17:18:20.188Z,1736356700.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:20.197Z,1736356700.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:20.200Z,1736356700.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 546.379944 m,
      bearing: 267.296795 deg,
      approach rate: -0.264944 m/s,
      LOS rate: -0.050907 deg/s,
      cmd heading: 269.369656 deg,
      new cmd heading: 269.310409 deg.

2025-01-08T17:18:20.201Z,1736356700.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700353 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:20.370Z,1736356700.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502899
2025-01-08T17:18:20.562Z,1736356700.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:20.578Z,1736356700.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:20.607Z,1736356700.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 546.289795 m,
      bearing: 267.280106 deg,
      approach rate: -0.240652 m/s,
      LOS rate: -0.044558 deg/s,
      cmd heading: 269.310397 deg,
      new cmd heading: 269.260322 deg.

2025-01-08T17:18:20.612Z,1736356700.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699479 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:20.621Z,1736356700.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754512
2025-01-08T17:18:20.872Z,1736356700.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005584
2025-01-08T17:18:20.947Z,1736356700.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:20.956Z,1736356700.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:20.959Z,1736356700.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 546.192444 m,
      bearing: 267.263172 deg,
      approach rate: -0.252868 m/s,
      LOS rate: -0.043993 deg/s,
      cmd heading: 269.260319 deg,
      new cmd heading: 269.209509 deg.

2025-01-08T17:18:20.960Z,1736356700.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698592 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:21.124Z,1736356701.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257650
2025-01-08T17:18:21.347Z,1736356701.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:21.372Z,1736356701.372 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:21.377Z,1736356701.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510704
2025-01-08T17:18:21.380Z,1736356701.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:21.403Z,1736356701.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 546.082458 m,
      bearing: 267.246158 deg,
      approach rate: -0.262540 m/s,
      LOS rate: -0.040622 deg/s,
      cmd heading: 269.209502 deg,
      new cmd heading: 269.158449 deg.

2025-01-08T17:18:21.428Z,1736356701.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697701 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:21.628Z,1736356701.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761537
2025-01-08T17:18:21.773Z,1736356701.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:21.782Z,1736356701.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:21.785Z,1736356701.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 545.974854 m,
      bearing: 267.229090 deg,
      approach rate: -0.264476 m/s,
      LOS rate: -0.041958 deg/s,
      cmd heading: 269.158439 deg,
      new cmd heading: 269.107226 deg.

2025-01-08T17:18:21.788Z,1736356701.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696807 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:21.882Z,1736356701.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015019
2025-01-08T17:18:22.132Z,1736356702.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265411
2025-01-08T17:18:22.163Z,1736356702.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:22.172Z,1736356702.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:22.175Z,1736356702.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 545.873108 m,
      bearing: 267.213764 deg,
      approach rate: -0.261627 m/s,
      LOS rate: -0.039416 deg/s,
      cmd heading: 269.107213 deg,
      new cmd heading: 269.061226 deg.

2025-01-08T17:18:22.176Z,1736356702.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696004 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:22.385Z,1736356702.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518404
2025-01-08T17:18:22.578Z,1736356702.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:22.592Z,1736356702.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:22.595Z,1736356702.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 545.764587 m,
      bearing: 267.198774 deg,
      approach rate: -0.258345 m/s,
      LOS rate: -0.035694 deg/s,
      cmd heading: 269.061232 deg,
      new cmd heading: 269.016251 deg.

2025-01-08T17:18:22.596Z,1736356702.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695220 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:22.638Z,1736356702.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770919
2025-01-08T17:18:22.889Z,1736356702.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022095
2025-01-08T17:18:22.964Z,1736356702.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:22.974Z,1736356702.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:22.977Z,1736356702.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 545.659973 m,
      bearing: 267.185091 deg,
      approach rate: -0.273167 m/s,
      LOS rate: -0.035734 deg/s,
      cmd heading: 269.016262 deg,
      new cmd heading: 268.975207 deg.

2025-01-08T17:18:22.978Z,1736356702.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694503 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:23.142Z,1736356703.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275117
2025-01-08T17:18:23.361Z,1736356703.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:23.370Z,1736356703.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:23.373Z,1736356703.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 545.549011 m,
      bearing: 267.171370 deg,
      approach rate: -0.280261 m/s,
      LOS rate: -0.034665 deg/s,
      cmd heading: 268.975199 deg,
      new cmd heading: 268.934026 deg.

2025-01-08T17:18:23.374Z,1736356703.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693784 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:23.392Z,1736356703.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525740
2025-01-08T17:18:23.644Z,1736356703.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777544
2025-01-08T17:18:23.800Z,1736356703.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:23.808Z,1736356703.808 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:23.810Z,1736356703.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:23.813Z,1736356703.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 545.419250 m,
      bearing: 267.157968 deg,
      approach rate: -0.294656 m/s,
      LOS rate: -0.030439 deg/s,
      cmd heading: 268.934027 deg,
      new cmd heading: 268.893812 deg.

2025-01-08T17:18:23.814Z,1736356703.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693082 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:23.898Z,1736356703.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030778
2025-01-08T17:18:24.148Z,1736356704.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281637
2025-01-08T17:18:24.189Z,1736356704.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:24.197Z,1736356704.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:24.200Z,1736356704.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 545.301270 m,
      bearing: 267.146452 deg,
      approach rate: -0.304763 m/s,
      LOS rate: -0.029753 deg/s,
      cmd heading: 268.893811 deg,
      new cmd heading: 268.859257 deg.

2025-01-08T17:18:24.201Z,1736356704.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692479 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:24.401Z,1736356704.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533882
2025-01-08T17:18:24.630Z,1736356704.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:24.648Z,1736356704.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:24.655Z,1736356704.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788627
2025-01-08T17:18:24.657Z,1736356704.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 545.163086 m,
      bearing: 267.135023 deg,
      approach rate: -0.307571 m/s,
      LOS rate: -0.025445 deg/s,
      cmd heading: 268.859250 deg,
      new cmd heading: 268.824954 deg.

2025-01-08T17:18:24.658Z,1736356704.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691881 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:24.912Z,1736356704.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.045465
2025-01-08T17:18:24.993Z,1736356704.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:25.001Z,1736356705.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:25.005Z,1736356705.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 545.044067 m,
      bearing: 267.126292 deg,
      approach rate: -0.335627 m/s,
      LOS rate: -0.024628 deg/s,
      cmd heading: 268.824962 deg,
      new cmd heading: 268.798762 deg.

2025-01-08T17:18:25.006Z,1736356705.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691423 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:25.160Z,1736356705.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293448
2025-01-08T17:18:25.404Z,1736356705.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:25.413Z,1736356705.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545897
2025-01-08T17:18:25.414Z,1736356705.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:25.417Z,1736356705.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 544.906555 m,
      bearing: 267.116830 deg,
      approach rate: -0.333040 m/s,
      LOS rate: -0.022921 deg/s,
      cmd heading: 268.798762 deg,
      new cmd heading: 268.770370 deg.

2025-01-08T17:18:25.418Z,1736356705.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690928 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:25.665Z,1736356705.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797629
2025-01-08T17:18:25.836Z,1736356705.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:25.851Z,1736356705.851 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:25.854Z,1736356705.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:25.861Z,1736356705.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 544.752991 m,
      bearing: 267.108466 deg,
      approach rate: -0.348975 m/s,
      LOS rate: -0.019014 deg/s,
      cmd heading: 268.770375 deg,
      new cmd heading: 268.745274 deg.

2025-01-08T17:18:25.862Z,1736356705.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690490 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:25.917Z,1736356705.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049768
2025-01-08T17:18:26.168Z,1736356706.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301513
2025-01-08T17:18:26.217Z,1736356706.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:26.227Z,1736356706.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:26.229Z,1736356706.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 544.612854 m,
      bearing: 267.101370 deg,
      approach rate: -0.376438 m/s,
      LOS rate: -0.019065 deg/s,
      cmd heading: 268.745268 deg,
      new cmd heading: 268.723975 deg.

2025-01-08T17:18:26.230Z,1736356706.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690118 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:26.421Z,1736356706.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554758
2025-01-08T17:18:26.672Z,1736356706.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805632
2025-01-08T17:18:26.692Z,1736356706.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:26.738Z,1736356706.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:26.749Z,1736356706.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 544.436340 m,
      bearing: 267.094669 deg,
      approach rate: -0.345260 m/s,
      LOS rate: -0.013111 deg/s,
      cmd heading: 268.723985 deg,
      new cmd heading: 268.703876 deg.

2025-01-08T17:18:26.750Z,1736356706.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689767 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:26.924Z,1736356706.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057583
2025-01-08T17:18:27.068Z,1736356707.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:27.077Z,1736356707.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:27.080Z,1736356707.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 544.295471 m,
      bearing: 267.089812 deg,
      approach rate: -0.414884 m/s,
      LOS rate: -0.014308 deg/s,
      cmd heading: 268.703877 deg,
      new cmd heading: 268.689302 deg.

2025-01-08T17:18:27.081Z,1736356707.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689513 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:27.176Z,1736356707.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309703
2025-01-08T17:18:27.428Z,1736356707.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561665
2025-01-08T17:18:27.610Z,1736356707.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:27.625Z,1736356707.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:27.632Z,1736356707.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 544.082214 m,
      bearing: 267.084510 deg,
      approach rate: -0.389306 m/s,
      LOS rate: -0.009683 deg/s,
      cmd heading: 268.689315 deg,
      new cmd heading: 268.673402 deg.

2025-01-08T17:18:27.633Z,1736356707.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689236 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:27.680Z,1736356707.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813696
2025-01-08T17:18:27.925Z,1736356707.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:27.932Z,1736356707.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065719
2025-01-08T17:18:27.934Z,1736356707.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:27.937Z,1736356707.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:27.940Z,1736356707.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 543.957581 m,
      bearing: 267.081805 deg,
      approach rate: -0.400512 m/s,
      LOS rate: -0.008694 deg/s,
      cmd heading: 268.673414 deg,
      new cmd heading: 268.665297 deg.

2025-01-08T17:18:27.941Z,1736356707.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689094 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:28.184Z,1736356708.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317451
2025-01-08T17:18:28.328Z,1736356708.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:28.338Z,1736356708.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:28.363Z,1736356708.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 543.797119 m,
      bearing: 267.078827 deg,
      approach rate: -0.399586 m/s,
      LOS rate: -0.007419 deg/s,
      cmd heading: 268.665300 deg,
      new cmd heading: 268.656361 deg.

2025-01-08T17:18:28.364Z,1736356708.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688938 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:28.437Z,1736356708.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570448
2025-01-08T17:18:28.688Z,1736356708.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.821626
2025-01-08T17:18:28.776Z,1736356708.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:28.784Z,1736356708.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:28.788Z,1736356708.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 543.605774 m,
      bearing: 267.076467 deg,
      approach rate: -0.428699 m/s,
      LOS rate: -0.005288 deg/s,
      cmd heading: 268.656366 deg,
      new cmd heading: 268.649285 deg.

2025-01-08T17:18:28.789Z,1736356708.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688815 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:28.940Z,1736356708.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073479
2025-01-08T17:18:29.173Z,1736356709.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:29.195Z,1736356709.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327420
2025-01-08T17:18:29.200Z,1736356709.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:29.208Z,1736356709.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 543.435547 m,
      bearing: 267.074832 deg,
      approach rate: -0.409256 m/s,
      LOS rate: -0.003932 deg/s,
      cmd heading: 268.649290 deg,
      new cmd heading: 268.644383 deg.

2025-01-08T17:18:29.209Z,1736356709.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688729 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:29.444Z,1736356709.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577571
2025-01-08T17:18:29.614Z,1736356709.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:29.644Z,1736356709.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:29.646Z,1736356709.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 543.230042 m,
      bearing: 267.073325 deg,
      approach rate: -0.464611 m/s,
      LOS rate: -0.003409 deg/s,
      cmd heading: 268.644372 deg,
      new cmd heading: 268.639848 deg.

2025-01-08T17:18:29.648Z,1736356709.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688650 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:29.698Z,1736356709.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830679
2025-01-08T17:18:29.948Z,1736356709.948 [DAT](INFO): Reached modem response timeout
2025-01-08T17:18:29.948Z,1736356709.948 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:18:29.948Z,1736356709.948 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:18:29.965Z,1736356709.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:29.993Z,1736356709.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:29.995Z,1736356709.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:30.006Z,1736356710.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 543.065063 m,
      bearing: 267.072486 deg,
      approach rate: -0.468523 m/s,
      LOS rate: -0.002384 deg/s,
      cmd heading: 268.639837 deg,
      new cmd heading: 268.637319 deg.

2025-01-08T17:18:30.016Z,1736356710.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688606 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:30.200Z,1736356710.200 [DAT](INFO): Reached modem response timeout
2025-01-08T17:18:30.200Z,1736356710.200 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:18:30.200Z,1736356710.200 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:18:30.359Z,1736356710.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:30.367Z,1736356710.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:30.371Z,1736356710.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 542.880371 m,
      bearing: 267.071913 deg,
      approach rate: -0.496072 m/s,
      LOS rate: -0.001540 deg/s,
      cmd heading: 268.637323 deg,
      new cmd heading: 268.635603 deg.

2025-01-08T17:18:30.372Z,1736356710.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688576 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:30.453Z,1736356710.453 [DAT](INFO): Reached modem response timeout
2025-01-08T17:18:30.453Z,1736356710.453 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:18:30.453Z,1736356710.453 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:18:30.705Z,1736356710.705 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:18:30.705Z,1736356710.705 [DAT](INFO): response not received
2025-01-08T17:18:30.706Z,1736356710.706 [DAT](INFO): DAT read: user:41>

2025-01-08T17:18:30.707Z,1736356710.707 [DAT](INFO): DAT read: Tx time:17:18:30.0307

2025-01-08T17:18:30.708Z,1736356710.708 [DAT](INFO): Ping request sent.
2025-01-08T17:18:30.708Z,1736356710.708 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:18:30.708Z,1736356710.708 [DAT](INFO): publishing transmit ping time
2025-01-08T17:18:30.709Z,1736356710.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001147
2025-01-08T17:18:30.822Z,1736356710.822 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -90.60,     +104   -57.64,  20.82,  0.00
2025-01-08T17:18:30.829Z,1736356710.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-08T17:18:30.829Z,1736356710.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:30.846Z,1736356710.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:30.857Z,1736356710.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 542.660034 m,
      bearing: 267.071644 deg,
      approach rate: -0.459809 m/s,
      LOS rate: -0.000561 deg/s,
      cmd heading: 268.635602 deg,
      new cmd heading: 268.634795 deg.

2025-01-08T17:18:30.858Z,1736356710.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688561 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:30.957Z,1736356710.957 [DAT](INFO): DAT read: TxSync time:17:18:30.0299

2025-01-08T17:18:30.958Z,1736356710.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249706
2025-01-08T17:18:31.154Z,1736356711.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:18:31.155Z,1736356711.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:31.190Z,1736356711.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:31.198Z,1736356711.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 542.509094 m,
      bearing: 267.071694 deg,
      approach rate: -0.439473 m/s,
      LOS rate: 0.000146 deg/s,
      cmd heading: 268.634782 deg,
      new cmd heading: 268.634933 deg.

2025-01-08T17:18:31.199Z,1736356711.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688564 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:31.208Z,1736356711.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500564
2025-01-08T17:18:31.461Z,1736356711.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752736
2025-01-08T17:18:31.640Z,1736356711.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:31.668Z,1736356711.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:31.672Z,1736356711.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 542.241333 m,
      bearing: 267.070906 deg,
      approach rate: -0.559621 m/s,
      LOS rate: -0.001647 deg/s,
      cmd heading: 268.634946 deg,
      new cmd heading: 268.632583 deg.

2025-01-08T17:18:31.673Z,1736356711.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688523 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:31.713Z,1736356711.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005374
2025-01-08T17:18:31.964Z,1736356711.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256305
2025-01-08T17:18:31.994Z,1736356711.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:32.001Z,1736356712.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:32.005Z,1736356712.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:32.008Z,1736356712.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 542.046997 m,
      bearing: 267.070334 deg,
      approach rate: -0.577456 m/s,
      LOS rate: -0.001700 deg/s,
      cmd heading: 268.632569 deg,
      new cmd heading: 268.630853 deg.

2025-01-08T17:18:32.009Z,1736356712.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688493 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:32.218Z,1736356712.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509761
2025-01-08T17:18:32.373Z,1736356712.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:32.389Z,1736356712.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:32.392Z,1736356712.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 541.839478 m,
      bearing: 267.070250 deg,
      approach rate: -0.539999 m/s,
      LOS rate: -0.000221 deg/s,
      cmd heading: 268.630848 deg,
      new cmd heading: 268.630594 deg.

2025-01-08T17:18:32.393Z,1736356712.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688488 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:32.470Z,1736356712.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761707
2025-01-08T17:18:32.722Z,1736356712.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013930
2025-01-08T17:18:32.817Z,1736356712.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:32.827Z,1736356712.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:32.830Z,1736356712.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 541.587952 m,
      bearing: 267.069778 deg,
      approach rate: -0.574147 m/s,
      LOS rate: -0.001077 deg/s,
      cmd heading: 268.630602 deg,
      new cmd heading: 268.629188 deg.

2025-01-08T17:18:32.831Z,1736356712.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688464 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:32.972Z,1736356712.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264613
2025-01-08T17:18:33.180Z,1736356713.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:33.206Z,1736356713.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:33.217Z,1736356713.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 541.382019 m,
      bearing: 267.069504 deg,
      approach rate: -0.542918 m/s,
      LOS rate: -0.000723 deg/s,
      cmd heading: 268.629182 deg,
      new cmd heading: 268.628359 deg.

2025-01-08T17:18:33.218Z,1736356713.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688449 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:33.228Z,1736356713.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519913
2025-01-08T17:18:33.476Z,1736356713.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768311
2025-01-08T17:18:33.708Z,1736356713.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:33.729Z,1736356713.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021175
2025-01-08T17:18:33.747Z,1736356713.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:33.758Z,1736356713.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 541.083252 m,
      bearing: 267.068894 deg,
      approach rate: -0.553019 m/s,
      LOS rate: -0.001131 deg/s,
      cmd heading: 268.628362 deg,
      new cmd heading: 268.626530 deg.

2025-01-08T17:18:33.772Z,1736356713.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688417 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:33.981Z,1736356713.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273331
2025-01-08T17:18:34.208Z,1736356714.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:34.216Z,1736356714.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:34.218Z,1736356714.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:34.221Z,1736356714.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 540.801147 m,
      bearing: 267.068363 deg,
      approach rate: -0.597787 m/s,
      LOS rate: -0.001125 deg/s,
      cmd heading: 268.626532 deg,
      new cmd heading: 268.624939 deg.

2025-01-08T17:18:34.222Z,1736356714.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688390 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:34.232Z,1736356714.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524541
2025-01-08T17:18:34.484Z,1736356714.484 [DAT](INFO): DAT read: Rx Time:17:18:33.1694

2025-01-08T17:18:34.485Z,1736356714.485 [DAT](INFO): Rx dataTimestamp_ set to:1736356714.484519
2025-01-08T17:18:34.486Z,1736356714.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778001
2025-01-08T17:18:34.716Z,1736356714.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:34.738Z,1736356714.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029829
2025-01-08T17:18:34.740Z,1736356714.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 551.10 m.
2025-01-08T17:18:34.743Z,1736356714.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 551.099976 m,
      nav range: 540.523315 m,
      bearing: 267.068372 deg,
      approach rate: -0.532745 m/s,
      LOS rate: 0.000017 deg/s,
      cmd heading: 268.624947 deg,
      new cmd heading: 268.624974 deg.

2025-01-08T17:18:34.750Z,1736356714.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688390 target range: 551.099976 and range: 551.10 m.
2025-01-08T17:18:34.996Z,1736356714.996 [DAT](INFO): DAT read: 17:18:33.1694 LVL= 21760, 32753, 23474, 32755, AGC= 69, IDX= 398,-0.44,-1.734,-3.071,-1.764,-2.444, PHS= 0.798,-0.580, 0.677, RAW= 145.5, -13.5, CAL= 152.2, -21.8, ROT= 357.8,  21.8

2025-01-08T17:18:34.998Z,1736356714.998 [DAT](INFO): got valid direction response:
 17:18:33.1694 LVL= 21760, 32753, 23474, 32755, AGC= 69, IDX= 398,-0.44,-1.734,-3.071,-1.764,-2.444, PHS= 0.798,-0.580, 0.677, RAW= 145.5, -13.5, CAL= 152.2, -21.8, ROT= 357.8,  21.8

2025-01-08T17:18:35.001Z,1736356715.001 [DAT](INFO): DAT read: Bearing 357.8,  21.8 (Local)

2025-01-08T17:18:35.001Z,1736356715.001 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.8,  21.8 (Local)

2025-01-08T17:18:35.004Z,1736356715.004 [DAT](INFO): DAT read: Range 10 to 50 : 550.8 m  (Round-trip  734.5 ms) speed  0.4 m/s

2025-01-08T17:18:35.004Z,1736356715.004 [DAT](INFO): DAT read: user:42>

2025-01-08T17:18:35.005Z,1736356715.005 [DAT](INFO): DAT read: Tx time:17:18:34.2823

2025-01-08T17:18:35.005Z,1736356715.005 [DAT](INFO): Ping request sent.
2025-01-08T17:18:35.005Z,1736356715.005 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:18:35.006Z,1736356715.006 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:18:35.007Z,1736356715.007 [DAT](INFO): direction in FSK: [0.927801,-0.035643,-0.371368]
2025-01-08T17:18:35.007Z,1736356715.007 [DAT](INFO): publishing transmit ping time
2025-01-08T17:18:35.008Z,1736356715.008 [DAT](INFO): publishing direction and range info
2025-01-08T17:18:35.011Z,1736356715.011 [DAT](INFO): publishing transmit ping time
2025-01-08T17:18:35.011Z,1736356715.011 [DAT](INFO): publishing direction and range info
2025-01-08T17:18:35.196Z,1736356715.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:35.229Z,1736356715.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 550.799988 m,
      deltaT: 15.375944 s,
      deltaX: -0.299988 m,
      approachRate: -0.019510 m/s,
      rangeRepo size: 4

2025-01-08T17:18:35.236Z,1736356715.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 550.799988 m,
      bearing: 266.469915 deg,
      lat: 36.903763 deg,
      lon: -122.119100 deg,
      deltaT: 15.375944 s,
      deltaX: -0.299988 m,
      approachRate: -0.019510 m/s,
      posRepo size: 4

2025-01-08T17:18:35.236Z,1736356715.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.80 m.
2025-01-08T17:18:35.241Z,1736356715.241 [DAT](INFO): DAT read: TxSync time:17:18:34.2815

2025-01-08T17:18:35.241Z,1736356715.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 550.799988 m,
      nav range: 540.669800 m,
      bearing: 266.448964 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000017 deg/s,
      cmd heading: 268.624974 deg,
      new cmd heading: 268.624999 deg.

2025-01-08T17:18:35.242Z,1736356715.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688391 target range: 550.799988 and range: 550.80 m.
2025-01-08T17:18:35.730Z,1736356715.730 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,250196,35.0, +11.6,  5.5,  0
2025-01-08T17:18:35.742Z,1736356715.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-08T17:18:35.742Z,1736356715.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:35.768Z,1736356715.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.80 m.
2025-01-08T17:18:35.774Z,1736356715.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 550.799988 m,
      nav range: 540.374878 m,
      bearing: 266.448620 deg,
      approach rate: -0.536717 m/s,
      LOS rate: -0.000627 deg/s,
      cmd heading: 268.625002 deg,
      new cmd heading: 268.623967 deg.

2025-01-08T17:18:35.784Z,1736356715.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688373 target range: 550.799988 and range: 550.80 m.
2025-01-08T17:18:36.112Z,1736356716.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-08T17:18:36.112Z,1736356716.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:36.121Z,1736356716.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.80 m.
2025-01-08T17:18:36.124Z,1736356716.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 550.799988 m,
      nav range: 540.175537 m,
      bearing: 266.448400 deg,
      approach rate: -0.564742 m/s,
      LOS rate: -0.000621 deg/s,
      cmd heading: 268.623963 deg,
      new cmd heading: 268.623306 deg.

2025-01-08T17:18:36.125Z,1736356716.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688361 target range: 550.799988 and range: 550.80 m.
2025-01-08T17:18:36.513Z,1736356716.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s.
2025-01-08T17:18:36.513Z,1736356716.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:36.521Z,1736356716.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:36.523Z,1736356716.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.80 m.
2025-01-08T17:18:36.526Z,1736356716.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 550.799988 m,
      nav range: 539.959656 m,
      bearing: 266.448177 deg,
      approach rate: -0.537193 m/s,
      LOS rate: -0.000558 deg/s,
      cmd heading: 268.623308 deg,
      new cmd heading: 268.622636 deg.

2025-01-08T17:18:36.527Z,1736356716.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688349 target range: 550.799988 and range: 550.80 m.
2025-01-08T17:18:36.756Z,1736356716.756 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:18:36.756Z,1736356716.756 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:18:36.756Z,1736356716.756 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:18:36.951Z,1736356716.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:36.960Z,1736356716.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.80 m.
2025-01-08T17:18:36.964Z,1736356716.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 550.799988 m,
      nav range: 539.759644 m,
      bearing: 266.449142 deg,
      approach rate: -0.457281 m/s,
      LOS rate: 0.002209 deg/s,
      cmd heading: 268.622625 deg,
      new cmd heading: 268.625523 deg.

2025-01-08T17:18:36.965Z,1736356716.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688400 target range: 550.799988 and range: 550.80 m.
2025-01-08T17:18:37.009Z,1736356717.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003813
2025-01-08T17:18:37.260Z,1736356717.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254617
2025-01-08T17:18:37.345Z,1736356717.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:37.354Z,1736356717.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.80 m.
2025-01-08T17:18:37.357Z,1736356717.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 550.799988 m,
      nav range: 539.579895 m,
      bearing: 266.449930 deg,
      approach rate: -0.457015 m/s,
      LOS rate: 0.002005 deg/s,
      cmd heading: 268.625521 deg,
      new cmd heading: 268.627886 deg.

2025-01-08T17:18:37.358Z,1736356717.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688441 target range: 550.799988 and range: 550.80 m.
2025-01-08T17:18:37.513Z,1736356717.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507714
2025-01-08T17:18:37.764Z,1736356717.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758729
2025-01-08T17:18:37.776Z,1736356717.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:37.790Z,1736356717.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.80 m.
2025-01-08T17:18:37.797Z,1736356717.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 550.799988 m,
      nav range: 539.399719 m,
      bearing: 266.450855 deg,
      approach rate: -0.413491 m/s,
      LOS rate: 0.002123 deg/s,
      cmd heading: 268.627898 deg,
      new cmd heading: 268.630673 deg.

2025-01-08T17:18:37.798Z,1736356717.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688490 target range: 550.799988 and range: 550.80 m.
2025-01-08T17:18:38.018Z,1736356718.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012211
2025-01-08T17:18:38.136Z,1736356718.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:38.145Z,1736356718.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.80 m.
2025-01-08T17:18:38.149Z,1736356718.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 550.799988 m,
      nav range: 539.249451 m,
      bearing: 266.451576 deg,
      approach rate: -0.423076 m/s,
      LOS rate: 0.002031 deg/s,
      cmd heading: 268.630684 deg,
      new cmd heading: 268.632849 deg.

2025-01-08T17:18:38.152Z,1736356718.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688528 target range: 550.799988 and range: 550.80 m.
2025-01-08T17:18:38.268Z,1736356718.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262738
2025-01-08T17:18:38.522Z,1736356718.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515597
2025-01-08T17:18:38.588Z,1736356718.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:38.594Z,1736356718.594 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:38.597Z,1736356718.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.80 m.
2025-01-08T17:18:38.616Z,1736356718.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 550.799988 m,
      nav range: 539.061584 m,
      bearing: 266.452400 deg,
      approach rate: -0.415715 m/s,
      LOS rate: 0.001823 deg/s,
      cmd heading: 268.632843 deg,
      new cmd heading: 268.635314 deg.

2025-01-08T17:18:38.617Z,1736356718.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688570 target range: 550.799988 and range: 550.80 m.
2025-01-08T17:18:38.773Z,1736356718.773 [DAT](INFO): DAT read: Rx Time:17:18:37.4184

2025-01-08T17:18:38.773Z,1736356718.773 [DAT](INFO): Rx dataTimestamp_ set to:1736356718.772941
2025-01-08T17:18:38.774Z,1736356718.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768205
2025-01-08T17:18:39.024Z,1736356719.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018773
2025-01-08T17:18:39.030Z,1736356719.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:39.040Z,1736356719.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.80 m.
2025-01-08T17:18:39.043Z,1736356719.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 550.799988 m,
      nav range: 538.891357 m,
      bearing: 266.453549 deg,
      approach rate: -0.383900 m/s,
      LOS rate: 0.002593 deg/s,
      cmd heading: 268.635302 deg,
      new cmd heading: 268.638751 deg.

2025-01-08T17:18:39.044Z,1736356719.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688631 target range: 550.799988 and range: 550.80 m.
2025-01-08T17:18:39.290Z,1736356719.290 [DAT](INFO): DAT read: 17:18:37.4184 LVL= 25584, 32753, 23266, 32755, AGC= 69, IDX= 418, 0.06, 1.085,-0.038, 1.109, 0.286, PHS= 0.887,-0.277, 0.821, RAW= 147.1, -24.1, CAL= 151.7, -30.7, ROT= 358.3,  30.7

2025-01-08T17:18:39.299Z,1736356719.299 [DAT](INFO): got valid direction response:
 17:18:37.4184 LVL= 25584, 32753, 23266, 32755, AGC= 69, IDX= 418, 0.06, 1.085,-0.038, 1.109, 0.286, PHS= 0.887,-0.277, 0.821, RAW= 147.1, -24.1, CAL= 151.7, -30.7, ROT= 358.3,  30.7

2025-01-08T17:18:39.301Z,1736356719.301 [DAT](INFO): DAT read: Bearing 358.3,  30.7 (Local)

2025-01-08T17:18:39.301Z,1736356719.301 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.3,  30.7 (Local)

2025-01-08T17:18:39.312Z,1736356719.312 [DAT](INFO): DAT read: Range 10 to 50 : 548.9 m  (Round-trip  731.9 ms) speed  0.2 m/s

2025-01-08T17:18:39.313Z,1736356719.313 [DAT](INFO): DAT read: user:43>

2025-01-08T17:18:39.313Z,1736356719.313 [DAT](INFO): DAT read: Tx time:17:18:38.5324

2025-01-08T17:18:39.314Z,1736356719.314 [DAT](INFO): Ping request sent.
2025-01-08T17:18:39.314Z,1736356719.314 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:18:39.314Z,1736356719.314 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:18:39.316Z,1736356719.316 [DAT](INFO): direction in FSK: [0.859474,-0.025509,-0.510543]
2025-01-08T17:18:39.316Z,1736356719.316 [DAT](INFO): publishing transmit ping time
2025-01-08T17:18:39.316Z,1736356719.316 [DAT](INFO): publishing direction and range info
2025-01-08T17:18:39.349Z,1736356719.349 [DAT](INFO): publishing transmit ping time
2025-01-08T17:18:39.349Z,1736356719.349 [DAT](INFO): publishing direction and range info
2025-01-08T17:18:39.456Z,1736356719.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:39.508Z,1736356719.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 548.900024 m,
      deltaT: 4.289387 s,
      deltaX: -1.899963 m,
      approachRate: -0.442945 m/s,
      rangeRepo size: 4

2025-01-08T17:18:39.510Z,1736356719.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 548.900024 m,
      bearing: 270.237904 deg,
      lat: 36.903763 deg,
      lon: -122.119100 deg,
      deltaT: 4.289387 s,
      deltaX: -1.899963 m,
      approachRate: -0.442945 m/s,
      posRepo size: 4

2025-01-08T17:18:39.515Z,1736356719.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 548.90 m.
2025-01-08T17:18:39.518Z,1736356719.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 548.900024 m,
      nav range: 538.727600 m,
      bearing: 266.454541 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002593 deg/s,
      cmd heading: 268.638744 deg,
      new cmd heading: 268.642349 deg.

2025-01-08T17:18:39.528Z,1736356719.528 [DAT](INFO): DAT read: TxSync time:17:18:38.5316

2025-01-08T17:18:39.530Z,1736356719.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688694 target range: 548.900024 and range: 548.90 m.
2025-01-08T17:18:39.849Z,1736356719.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:39.866Z,1736356719.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 548.90 m.
2025-01-08T17:18:39.873Z,1736356719.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 548.900024 m,
      nav range: 538.577087 m,
      bearing: 266.455408 deg,
      approach rate: -0.415354 m/s,
      LOS rate: 0.002393 deg/s,
      cmd heading: 268.642350 deg,
      new cmd heading: 268.644951 deg.

2025-01-08T17:18:39.874Z,1736356719.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688739 target range: 548.900024 and range: 548.90 m.
2025-01-08T17:18:40.238Z,1736356720.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:40.246Z,1736356720.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 548.90 m.
2025-01-08T17:18:40.249Z,1736356720.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 548.900024 m,
      nav range: 538.428589 m,
      bearing: 266.456297 deg,
      approach rate: -0.390161 m/s,
      LOS rate: 0.002336 deg/s,
      cmd heading: 268.644946 deg,
      new cmd heading: 268.647613 deg.

2025-01-08T17:18:40.250Z,1736356720.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688786 target range: 548.900024 and range: 548.90 m.
2025-01-08T17:18:40.645Z,1736356720.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:40.653Z,1736356720.653 [CTD_Seabird](ERROR): Failed to parse device response: 51.6794,9215.28
2025-01-08T17:18:40.654Z,1736356720.654 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:40.656Z,1736356720.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 548.90 m.
2025-01-08T17:18:40.659Z,1736356720.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 548.900024 m,
      nav range: 538.273254 m,
      bearing: 266.457215 deg,
      approach rate: -0.379195 m/s,
      LOS rate: 0.002242 deg/s,
      cmd heading: 268.647623 deg,
      new cmd heading: 268.650379 deg.

2025-01-08T17:18:40.660Z,1736356720.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688834 target range: 548.900024 and range: 548.90 m.
2025-01-08T17:18:40.793Z,1736356720.793 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:18:40.794Z,1736356720.794 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:18:40.794Z,1736356720.794 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:18:41.044Z,1736356721.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730387
2025-01-08T17:18:41.091Z,1736356721.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:18:41.107Z,1736356721.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:41.116Z,1736356721.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 548.90 m.
2025-01-08T17:18:41.120Z,1736356721.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 548.900024 m,
      nav range: 538.103088 m,
      bearing: 266.458222 deg,
      approach rate: -0.370508 m/s,
      LOS rate: 0.002193 deg/s,
      cmd heading: 268.650383 deg,
      new cmd heading: 268.653404 deg.

2025-01-08T17:18:41.121Z,1736356721.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688887 target range: 548.900024 and range: 548.90 m.
2025-01-08T17:18:41.299Z,1736356721.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985340
2025-01-08T17:18:41.448Z,1736356721.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:18:41.448Z,1736356721.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:41.478Z,1736356721.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 548.90 m.
2025-01-08T17:18:41.492Z,1736356721.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 548.900024 m,
      nav range: 537.966858 m,
      bearing: 266.458914 deg,
      approach rate: -0.375993 m/s,
      LOS rate: 0.001911 deg/s,
      cmd heading: 268.653415 deg,
      new cmd heading: 268.655493 deg.

2025-01-08T17:18:41.493Z,1736356721.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688923 target range: 548.900024 and range: 548.90 m.
2025-01-08T17:18:41.550Z,1736356721.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235775
2025-01-08T17:18:41.800Z,1736356721.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486317
2025-01-08T17:18:41.900Z,1736356721.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:41.910Z,1736356721.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 548.90 m.
2025-01-08T17:18:41.913Z,1736356721.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 548.900024 m,
      nav range: 537.768738 m,
      bearing: 266.459335 deg,
      approach rate: -0.458242 m/s,
      LOS rate: 0.000973 deg/s,
      cmd heading: 268.655492 deg,
      new cmd heading: 268.656753 deg.

2025-01-08T17:18:41.914Z,1736356721.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688945 target range: 548.900024 and range: 548.90 m.
2025-01-08T17:18:42.053Z,1736356722.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739152
2025-01-08T17:18:42.263Z,1736356722.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:42.273Z,1736356722.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 548.90 m.
2025-01-08T17:18:42.276Z,1736356722.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 548.900024 m,
      nav range: 537.610046 m,
      bearing: 266.459627 deg,
      approach rate: -0.437307 m/s,
      LOS rate: 0.000806 deg/s,
      cmd heading: 268.656748 deg,
      new cmd heading: 268.657626 deg.

2025-01-08T17:18:42.277Z,1736356722.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688960 target range: 548.900024 and range: 548.90 m.
2025-01-08T17:18:42.305Z,1736356722.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991215
2025-01-08T17:18:42.556Z,1736356722.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242410
2025-01-08T17:18:42.711Z,1736356722.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:42.781Z,1736356722.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:42.789Z,1736356722.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 548.90 m.
2025-01-08T17:18:42.793Z,1736356722.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 548.900024 m,
      nav range: 537.417114 m,
      bearing: 266.459937 deg,
      approach rate: -0.373906 m/s,
      LOS rate: 0.000601 deg/s,
      cmd heading: 268.657623 deg,
      new cmd heading: 268.658553 deg.

2025-01-08T17:18:42.794Z,1736356722.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688976 target range: 548.900024 and range: 548.90 m.
2025-01-08T17:18:42.809Z,1736356722.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494670
2025-01-08T17:18:43.060Z,1736356723.060 [DAT](INFO): DAT read: Rx Time:17:18:41.6742

2025-01-08T17:18:43.061Z,1736356723.061 [DAT](INFO): Rx dataTimestamp_ set to:1736356723.060417
2025-01-08T17:18:43.061Z,1736356723.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747350
2025-01-08T17:18:43.126Z,1736356723.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:43.149Z,1736356723.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 548.90 m.
2025-01-08T17:18:43.153Z,1736356723.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 548.900024 m,
      nav range: 537.213379 m,
      bearing: 266.460117 deg,
      approach rate: -0.565236 m/s,
      LOS rate: 0.000499 deg/s,
      cmd heading: 268.658552 deg,
      new cmd heading: 268.659091 deg.

2025-01-08T17:18:43.154Z,1736356723.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688986 target range: 548.900024 and range: 548.90 m.
2025-01-08T17:18:43.312Z,1736356723.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.998524
2025-01-08T17:18:43.502Z,1736356723.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:43.512Z,1736356723.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 548.90 m.
2025-01-08T17:18:43.518Z,1736356723.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 548.900024 m,
      nav range: 537.031738 m,
      bearing: 266.460277 deg,
      approach rate: -0.501908 m/s,
      LOS rate: 0.000444 deg/s,
      cmd heading: 268.659098 deg,
      new cmd heading: 268.659580 deg.

2025-01-08T17:18:43.520Z,1736356723.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688994 target range: 548.900024 and range: 548.90 m.
2025-01-08T17:18:43.574Z,1736356723.574 [DAT](INFO): DAT read: 17:18:41.6742 LVL= 24512, 28769, 24898, 32755, AGC= 69, IDX= 416,-0.35, 2.569, 1.106, 2.599, 1.911, PHS= 0.746,-0.758, 0.685, RAW= 147.9,  -9.2, CAL= 154.3, -17.5, ROT= 355.7,  17.5

2025-01-08T17:18:43.575Z,1736356723.575 [DAT](INFO): got valid direction response:
 17:18:41.6742 LVL= 24512, 28769, 24898, 32755, AGC= 69, IDX= 416,-0.35, 2.569, 1.106, 2.599, 1.911, PHS= 0.746,-0.758, 0.685, RAW= 147.9,  -9.2, CAL= 154.3, -17.5, ROT= 355.7,  17.5

2025-01-08T17:18:43.577Z,1736356723.577 [DAT](INFO): DAT read: Bearing 355.7,  17.5 (Local)

2025-01-08T17:18:43.578Z,1736356723.578 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.7,  17.5 (Local)

2025-01-08T17:18:43.579Z,1736356723.579 [DAT](INFO): DAT read: Range 10 to 50 : 553.2 m  (Round-trip  737.6 ms) speed  0.4 m/s

2025-01-08T17:18:43.580Z,1736356723.580 [DAT](INFO): DAT read: user:44>

2025-01-08T17:18:43.581Z,1736356723.581 [DAT](INFO): DAT read: Tx time:17:18:42.7808

2025-01-08T17:18:43.581Z,1736356723.581 [DAT](INFO): Ping request sent.
2025-01-08T17:18:43.581Z,1736356723.581 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:18:43.581Z,1736356723.581 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:18:43.582Z,1736356723.582 [DAT](INFO): direction in FSK: [0.951032,-0.071508,-0.300706]
2025-01-08T17:18:43.582Z,1736356723.582 [DAT](INFO): publishing transmit ping time
2025-01-08T17:18:43.583Z,1736356723.583 [DAT](INFO): publishing direction and range info
2025-01-08T17:18:43.586Z,1736356723.586 [DAT](INFO): publishing transmit ping time
2025-01-08T17:18:43.587Z,1736356723.587 [DAT](INFO): publishing direction and range info
2025-01-08T17:18:43.818Z,1736356723.818 [DAT](INFO): DAT read: TxSync time:17:18:42.7800

2025-01-08T17:18:43.930Z,1736356723.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:43.962Z,1736356723.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 553.200012 m,
      deltaT: 4.286979 s,
      deltaX: 4.299988 m,
      approachRate: 1.003034 m/s,
      rangeRepo size: 4

2025-01-08T17:18:43.968Z,1736356723.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 553.200012 m,
      bearing: 266.909776 deg,
      lat: 36.903763 deg,
      lon: -122.119122 deg,
      deltaT: 4.286979 s,
      deltaX: 4.299988 m,
      approachRate: 1.003034 m/s,
      posRepo size: 4

2025-01-08T17:18:43.970Z,1736356723.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 553.20 m.
2025-01-08T17:18:43.977Z,1736356723.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 553.200012 m,
      nav range: 538.757141 m,
      bearing: 266.472818 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000444 deg/s,
      cmd heading: 268.659590 deg,
      new cmd heading: 268.660188 deg.

2025-01-08T17:18:43.978Z,1736356723.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689005 target range: 553.200012 and range: 553.20 m.
2025-01-08T17:18:44.413Z,1736356724.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:44.421Z,1736356724.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 553.20 m.
2025-01-08T17:18:44.424Z,1736356724.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 553.200012 m,
      nav range: 538.505005 m,
      bearing: 266.472612 deg,
      approach rate: -0.548271 m/s,
      LOS rate: -0.000448 deg/s,
      cmd heading: 268.660191 deg,
      new cmd heading: 268.659572 deg.

2025-01-08T17:18:44.425Z,1736356724.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688994 target range: 553.200012 and range: 553.20 m.
2025-01-08T17:18:44.432Z,1736356724.432 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:18:44.861Z,1736356724.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:44.868Z,1736356724.868 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:44.871Z,1736356724.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 553.20 m.
2025-01-08T17:18:44.873Z,1736356724.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 553.200012 m,
      nav range: 538.255554 m,
      bearing: 266.471894 deg,
      approach rate: -0.554823 m/s,
      LOS rate: -0.001597 deg/s,
      cmd heading: 268.659562 deg,
      new cmd heading: 268.657408 deg.

2025-01-08T17:18:44.874Z,1736356724.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688956 target range: 553.200012 and range: 553.20 m.
2025-01-08T17:18:45.077Z,1736356725.077 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:18:45.078Z,1736356725.078 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:18:45.078Z,1736356725.078 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:18:45.280Z,1736356725.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:45.290Z,1736356725.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 553.20 m.
2025-01-08T17:18:45.292Z,1736356725.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 553.200012 m,
      nav range: 538.021729 m,
      bearing: 266.471270 deg,
      approach rate: -0.558122 m/s,
      LOS rate: -0.001490 deg/s,
      cmd heading: 268.657404 deg,
      new cmd heading: 268.655532 deg.

2025-01-08T17:18:45.293Z,1736356725.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688923 target range: 553.200012 and range: 553.20 m.
2025-01-08T17:18:45.329Z,1736356725.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748122
2025-01-08T17:18:45.441Z,1736356725.441 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:18:45.582Z,1736356725.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000550
2025-01-08T17:18:45.680Z,1736356725.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:45.689Z,1736356725.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 553.20 m.
2025-01-08T17:18:45.693Z,1736356725.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 553.200012 m,
      nav range: 537.798828 m,
      bearing: 266.470663 deg,
      approach rate: -0.557595 m/s,
      LOS rate: -0.001518 deg/s,
      cmd heading: 268.655519 deg,
      new cmd heading: 268.653698 deg.

2025-01-08T17:18:45.695Z,1736356725.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688891 target range: 553.200012 and range: 553.20 m.
2025-01-08T17:18:45.832Z,1736356725.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251431
2025-01-08T17:18:46.084Z,1736356726.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503396
2025-01-08T17:18:46.138Z,1736356726.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:46.147Z,1736356726.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 553.20 m.
2025-01-08T17:18:46.150Z,1736356726.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 553.200012 m,
      nav range: 537.523071 m,
      bearing: 266.469863 deg,
      approach rate: -0.602417 m/s,
      LOS rate: -0.001749 deg/s,
      cmd heading: 268.653688 deg,
      new cmd heading: 268.651287 deg.

2025-01-08T17:18:46.151Z,1736356726.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688849 target range: 553.200012 and range: 553.20 m.
2025-01-08T17:18:46.337Z,1736356726.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755948
2025-01-08T17:18:46.484Z,1736356726.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:46.515Z,1736356726.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 553.20 m.
2025-01-08T17:18:46.518Z,1736356726.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 553.200012 m,
      nav range: 537.315491 m,
      bearing: 266.469276 deg,
      approach rate: -0.589738 m/s,
      LOS rate: -0.001670 deg/s,
      cmd heading: 268.651284 deg,
      new cmd heading: 268.649521 deg.

2025-01-08T17:18:46.519Z,1736356726.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688818 target range: 553.200012 and range: 553.20 m.
2025-01-08T17:18:46.591Z,1736356726.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010137
2025-01-08T17:18:46.844Z,1736356726.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261890
2025-01-08T17:18:46.917Z,1736356726.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:46.926Z,1736356726.926 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:46.928Z,1736356726.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 553.20 m.
2025-01-08T17:18:46.930Z,1736356726.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 553.200012 m,
      nav range: 537.055298 m,
      bearing: 266.468275 deg,
      approach rate: -0.606653 m/s,
      LOS rate: -0.002335 deg/s,
      cmd heading: 268.649508 deg,
      new cmd heading: 268.646504 deg.

2025-01-08T17:18:46.932Z,1736356726.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688766 target range: 553.200012 and range: 553.20 m.
2025-01-08T17:18:47.092Z,1736356727.092 [DAT](INFO): DAT read: Rx Time:17:18:45.9203

2025-01-08T17:18:47.093Z,1736356727.093 [DAT](INFO): Rx dataTimestamp_ set to:1736356727.092422
2025-01-08T17:18:47.093Z,1736356727.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512265
2025-01-08T17:18:47.288Z,1736356727.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:47.315Z,1736356727.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 553.20 m.
2025-01-08T17:18:47.318Z,1736356727.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 553.200012 m,
      nav range: 536.833130 m,
      bearing: 266.467412 deg,
      approach rate: -0.574242 m/s,
      LOS rate: -0.002232 deg/s,
      cmd heading: 268.646503 deg,
      new cmd heading: 268.643913 deg.

2025-01-08T17:18:47.320Z,1736356727.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688721 target range: 553.200012 and range: 553.20 m.
2025-01-08T17:18:47.354Z,1736356727.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772844
2025-01-08T17:18:47.604Z,1736356727.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023310
2025-01-08T17:18:47.705Z,1736356727.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:47.722Z,1736356727.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 553.20 m.
2025-01-08T17:18:47.741Z,1736356727.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 553.200012 m,
      nav range: 536.582581 m,
      bearing: 266.466440 deg,
      approach rate: -0.615759 m/s,
      LOS rate: -0.002389 deg/s,
      cmd heading: 268.643908 deg,
      new cmd heading: 268.640992 deg.

2025-01-08T17:18:47.742Z,1736356727.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688670 target range: 553.200012 and range: 553.20 m.
2025-01-08T17:18:47.857Z,1736356727.857 [DAT](INFO): DAT read: Range 10 to 50 : 551.4 m  (Round-trip  735.3 ms) speed  0.4 m/s

2025-01-08T17:18:47.858Z,1736356727.858 [DAT](INFO): DAT read: user:45>

2025-01-08T17:18:47.859Z,1736356727.859 [DAT](INFO): DAT read: Tx time:17:18:47.0308

2025-01-08T17:18:47.859Z,1736356727.859 [DAT](INFO): Ping request sent.
2025-01-08T17:18:47.859Z,1736356727.859 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:18:47.859Z,1736356727.859 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:18:47.859Z,1736356727.859 [DAT](INFO): publishing transmit ping time
2025-01-08T17:18:47.860Z,1736356727.860 [DAT](INFO): publishing transmit ping time
2025-01-08T17:18:48.108Z,1736356728.108 [DAT](INFO): DAT read: 0

2025-01-08T17:18:48.109Z,1736356728.109 [DAT](INFO): unknown deviceResponse_: 0

2025-01-08T17:18:48.181Z,1736356728.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:48.192Z,1736356728.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 551.400024 m,
      deltaT: 4.291417 s,
      deltaX: -1.799988 m,
      approachRate: -0.419439 m/s,
      rangeRepo size: 4

2025-01-08T17:18:48.193Z,1736356728.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 553.20 m.
2025-01-08T17:18:48.196Z,1736356728.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 553.200012 m,
      nav range: 536.297058 m,
      bearing: 266.465332 deg,
      approach rate: -0.608848 m/s,
      LOS rate: -0.002364 deg/s,
      cmd heading: 268.640984 deg,
      new cmd heading: 268.637658 deg.

2025-01-08T17:18:48.197Z,1736356728.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688612 target range: 553.200012 and range: 551.40 m.
2025-01-08T17:18:48.460Z,1736356728.460 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-08T17:18:48.557Z,1736356728.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:48.589Z,1736356728.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 553.20 m.
2025-01-08T17:18:48.598Z,1736356728.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 553.200012 m,
      nav range: 536.071533 m,
      bearing: 266.464530 deg,
      approach rate: -0.565659 m/s,
      LOS rate: -0.002013 deg/s,
      cmd heading: 268.637651 deg,
      new cmd heading: 268.635244 deg.

2025-01-08T17:18:48.604Z,1736356728.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688570 target range: 553.200012 and range: 551.40 m.
2025-01-08T17:18:48.961Z,1736356728.961 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS
2025-01-08T17:18:48.972Z,1736356728.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:18:48.972Z,1736356728.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:48.979Z,1736356728.979 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:48.997Z,1736356728.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 553.20 m.
2025-01-08T17:18:49.004Z,1736356729.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 553.200012 m,
      nav range: 535.823120 m,
      bearing: 266.463763 deg,
      approach rate: -0.609580 m/s,
      LOS rate: -0.001883 deg/s,
      cmd heading: 268.635247 deg,
      new cmd heading: 268.632945 deg.

2025-01-08T17:18:49.005Z,1736356729.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688529 target range: 553.200012 and range: 551.40 m.
2025-01-08T17:18:49.117Z,1736356729.117 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:18:49.117Z,1736356729.117 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:18:49.117Z,1736356729.117 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:18:49.370Z,1736356729.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511453
2025-01-08T17:18:49.390Z,1736356729.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:18:49.390Z,1736356729.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:49.399Z,1736356729.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 553.20 m.
2025-01-08T17:18:49.402Z,1736356729.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 553.200012 m,
      nav range: 535.571655 m,
      bearing: 266.463019 deg,
      approach rate: -0.625894 m/s,
      LOS rate: -0.001854 deg/s,
      cmd heading: 268.632952 deg,
      new cmd heading: 268.630718 deg.

2025-01-08T17:18:49.404Z,1736356729.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688490 target range: 553.200012 and range: 551.40 m.
2025-01-08T17:18:49.624Z,1736356729.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765497
2025-01-08T17:18:49.788Z,1736356729.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-08T17:18:49.789Z,1736356729.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:49.800Z,1736356729.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 553.20 m.
2025-01-08T17:18:49.804Z,1736356729.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 553.200012 m,
      nav range: 535.332703 m,
      bearing: 266.462275 deg,
      approach rate: -0.594631 m/s,
      LOS rate: -0.001852 deg/s,
      cmd heading: 268.630712 deg,
      new cmd heading: 268.628479 deg.

2025-01-08T17:18:49.805Z,1736356729.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688451 target range: 553.200012 and range: 551.40 m.
2025-01-08T17:18:49.877Z,1736356729.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017749
2025-01-08T17:18:50.128Z,1736356730.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269212
2025-01-08T17:18:50.201Z,1736356730.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:50.230Z,1736356730.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 553.20 m.
2025-01-08T17:18:50.238Z,1736356730.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 553.200012 m,
      nav range: 535.093933 m,
      bearing: 266.461482 deg,
      approach rate: -0.555688 m/s,
      LOS rate: -0.001848 deg/s,
      cmd heading: 268.628471 deg,
      new cmd heading: 268.626090 deg.

2025-01-08T17:18:50.244Z,1736356730.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688410 target range: 553.200012 and range: 551.40 m.
2025-01-08T17:18:50.380Z,1736356730.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521307
2025-01-08T17:18:50.597Z,1736356730.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:50.634Z,1736356730.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774847
2025-01-08T17:18:50.657Z,1736356730.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 553.20 m.
2025-01-08T17:18:50.665Z,1736356730.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 553.200012 m,
      nav range: 534.865112 m,
      bearing: 266.460716 deg,
      approach rate: -0.536163 m/s,
      LOS rate: -0.001794 deg/s,
      cmd heading: 268.626094 deg,
      new cmd heading: 268.623798 deg.

2025-01-08T17:18:50.672Z,1736356730.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688370 target range: 553.200012 and range: 551.40 m.
2025-01-08T17:18:50.888Z,1736356730.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027977
2025-01-08T17:18:51.026Z,1736356731.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:51.033Z,1736356731.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:51.035Z,1736356731.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 553.20 m.
2025-01-08T17:18:51.038Z,1736356731.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 553.200012 m,
      nav range: 534.622192 m,
      bearing: 266.460233 deg,
      approach rate: -0.643192 m/s,
      LOS rate: -0.001279 deg/s,
      cmd heading: 268.623800 deg,
      new cmd heading: 268.622350 deg.

2025-01-08T17:18:51.039Z,1736356731.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688344 target range: 553.200012 and range: 551.40 m.
2025-01-08T17:18:51.137Z,1736356731.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277865
2025-01-08T17:18:51.388Z,1736356731.388 [DAT](INFO): DAT read: Rx Time:17:18:50.1586

2025-01-08T17:18:51.389Z,1736356731.389 [DAT](INFO): Rx dataTimestamp_ set to:1736356731.388479
2025-01-08T17:18:51.389Z,1736356731.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530325
2025-01-08T17:18:51.425Z,1736356731.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:51.442Z,1736356731.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 553.20 m.
2025-01-08T17:18:51.449Z,1736356731.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 553.200012 m,
      nav range: 534.395813 m,
      bearing: 266.459780 deg,
      approach rate: -0.556200 m/s,
      LOS rate: -0.001116 deg/s,
      cmd heading: 268.622352 deg,
      new cmd heading: 268.620989 deg.

2025-01-08T17:18:51.450Z,1736356731.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688321 target range: 553.200012 and range: 551.40 m.
2025-01-08T17:18:51.640Z,1736356731.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781364
2025-01-08T17:18:51.797Z,1736356731.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:51.806Z,1736356731.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 553.20 m.
2025-01-08T17:18:51.825Z,1736356731.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 553.200012 m,
      nav range: 534.184814 m,
      bearing: 266.459365 deg,
      approach rate: -0.579192 m/s,
      LOS rate: -0.001139 deg/s,
      cmd heading: 268.620985 deg,
      new cmd heading: 268.619741 deg.

2025-01-08T17:18:51.826Z,1736356731.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688299 target range: 553.200012 and range: 551.40 m.
2025-01-08T17:18:51.926Z,1736356731.926 [DAT](INFO): DAT read: 17:18:50.1586 LVL= 24960, 32753, 29170, 32755, AGC= 70, IDX= 239, 0.30, 1.442,-0.012, 1.382, 0.758, PHS= 0.771,-0.723, 0.621, RAW= 144.8,  -9.4, CAL= 151.4, -18.3, ROT= 358.6,  18.3

2025-01-08T17:18:51.936Z,1736356731.936 [DAT](INFO): got valid direction response:
 17:18:50.1586 LVL= 24960, 32753, 29170, 32755, AGC= 70, IDX= 239, 0.30, 1.442,-0.012, 1.382, 0.758, PHS= 0.771,-0.723, 0.621, RAW= 144.8,  -9.4, CAL= 151.4, -18.3, ROT= 358.6,  18.3

2025-01-08T17:18:51.937Z,1736356731.937 [DAT](INFO): DAT read: Bearing 358.6,  18.3 (Local)

2025-01-08T17:18:51.937Z,1736356731.937 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.6,  18.3 (Local)

2025-01-08T17:18:51.939Z,1736356731.939 [DAT](INFO): DAT read: Range 10 to 50 : 542.7 m  (Round-trip  723.7 ms) speed  0.2 m/s

2025-01-08T17:18:51.957Z,1736356731.957 [DAT](INFO): DAT read: user:46>

2025-01-08T17:18:51.958Z,1736356731.958 [DAT](INFO): DAT read: Tx time:17:18:51.2808

2025-01-08T17:18:51.959Z,1736356731.959 [DAT](INFO): Ping request sent.
2025-01-08T17:18:51.959Z,1736356731.959 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:18:51.964Z,1736356731.964 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:18:51.966Z,1736356731.966 [DAT](INFO): direction in FSK: [0.949142,-0.023196,-0.313992]
2025-01-08T17:18:51.966Z,1736356731.966 [DAT](INFO): publishing transmit ping time
2025-01-08T17:18:51.971Z,1736356731.971 [DAT](INFO): publishing direction and range info
2025-01-08T17:18:51.981Z,1736356731.981 [DAT](INFO): publishing transmit ping time
2025-01-08T17:18:51.981Z,1736356731.981 [DAT](INFO): publishing direction and range info
2025-01-08T17:18:52.146Z,1736356732.146 [DAT](INFO): DAT read: TxSync time:17:18:51.2800

2025-01-08T17:18:52.237Z,1736356732.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:52.250Z,1736356732.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 542.700012 m,
      deltaT: 4.039028 s,
      deltaX: -8.700012 m,
      approachRate: -2.153987 m/s,
      rangeRepo size: 4

2025-01-08T17:18:52.254Z,1736356732.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 542.700012 m,
      bearing: 268.746360 deg,
      lat: 36.903793 deg,
      lon: -122.119139 deg,
      deltaT: 8.330445 s,
      deltaX: -10.500000 m,
      approachRate: -1.260437 m/s,
      posRepo size: 4

2025-01-08T17:18:52.254Z,1736356732.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.70 m.
2025-01-08T17:18:52.274Z,1736356732.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.700012 m,
      nav range: 535.283142 m,
      bearing: 266.827846 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001139 deg/s,
      cmd heading: 268.619729 deg,
      new cmd heading: 268.618212 deg.

2025-01-08T17:18:52.275Z,1736356732.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688272 target range: 542.700012 and range: 542.70 m.
2025-01-08T17:18:52.615Z,1736356732.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:52.624Z,1736356732.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.70 m.
2025-01-08T17:18:52.626Z,1736356732.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.700012 m,
      nav range: 535.076050 m,
      bearing: 266.828156 deg,
      approach rate: -0.554130 m/s,
      LOS rate: 0.000831 deg/s,
      cmd heading: 268.618199 deg,
      new cmd heading: 268.619130 deg.

2025-01-08T17:18:52.644Z,1736356732.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688288 target range: 542.700012 and range: 542.70 m.
2025-01-08T17:18:53.051Z,1736356733.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:53.059Z,1736356733.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:53.061Z,1736356733.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.70 m.
2025-01-08T17:18:53.064Z,1736356733.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.700012 m,
      nav range: 534.843140 m,
      bearing: 266.828773 deg,
      approach rate: -0.532130 m/s,
      LOS rate: 0.001411 deg/s,
      cmd heading: 268.619128 deg,
      new cmd heading: 268.620980 deg.

2025-01-08T17:18:53.065Z,1736356733.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688321 target range: 542.700012 and range: 542.70 m.
2025-01-08T17:18:53.153Z,1736356733.153 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:18:53.153Z,1736356733.153 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:18:53.154Z,1736356733.154 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:18:53.404Z,1736356733.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.445665
2025-01-08T17:18:53.414Z,1736356733.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:53.441Z,1736356733.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.70 m.
2025-01-08T17:18:53.448Z,1736356733.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.700012 m,
      nav range: 534.649048 m,
      bearing: 266.829371 deg,
      approach rate: -0.510865 m/s,
      LOS rate: 0.001575 deg/s,
      cmd heading: 268.620985 deg,
      new cmd heading: 268.622781 deg.

2025-01-08T17:18:53.449Z,1736356733.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688352 target range: 542.700012 and range: 542.70 m.
2025-01-08T17:18:53.658Z,1736356733.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.699017
2025-01-08T17:18:53.837Z,1736356733.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:53.846Z,1736356733.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.70 m.
2025-01-08T17:18:53.853Z,1736356733.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.700012 m,
      nav range: 534.423035 m,
      bearing: 266.830069 deg,
      approach rate: -0.558486 m/s,
      LOS rate: 0.001723 deg/s,
      cmd heading: 268.622789 deg,
      new cmd heading: 268.624881 deg.

2025-01-08T17:18:53.854Z,1736356733.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688389 target range: 542.700012 and range: 542.70 m.
2025-01-08T17:18:53.912Z,1736356733.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.952833
2025-01-08T17:18:54.161Z,1736356734.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.201839
2025-01-08T17:18:54.257Z,1736356734.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:54.274Z,1736356734.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.70 m.
2025-01-08T17:18:54.277Z,1736356734.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.700012 m,
      nav range: 534.204956 m,
      bearing: 266.830604 deg,
      approach rate: -0.509072 m/s,
      LOS rate: 0.001250 deg/s,
      cmd heading: 268.624892 deg,
      new cmd heading: 268.626499 deg.

2025-01-08T17:18:54.278Z,1736356734.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688417 target range: 542.700012 and range: 542.70 m.
2025-01-08T17:18:54.412Z,1736356734.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.453706
2025-01-08T17:18:54.651Z,1736356734.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:54.660Z,1736356734.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.70 m.
2025-01-08T17:18:54.662Z,1736356734.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.700012 m,
      nav range: 534.000305 m,
      bearing: 266.831061 deg,
      approach rate: -0.531239 m/s,
      LOS rate: 0.001187 deg/s,
      cmd heading: 268.626504 deg,
      new cmd heading: 268.627876 deg.

2025-01-08T17:18:54.664Z,1736356734.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.705689
2025-01-08T17:18:54.665Z,1736356734.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688441 target range: 542.700012 and range: 542.70 m.
2025-01-08T17:18:54.920Z,1736356734.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961024
2025-01-08T17:18:55.094Z,1736356735.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:55.101Z,1736356735.101 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:55.104Z,1736356735.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.70 m.
2025-01-08T17:18:55.107Z,1736356735.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.700012 m,
      nav range: 533.773254 m,
      bearing: 266.831600 deg,
      approach rate: -0.510393 m/s,
      LOS rate: 0.001213 deg/s,
      cmd heading: 268.627870 deg,
      new cmd heading: 268.629489 deg.

2025-01-08T17:18:55.108Z,1736356735.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688469 target range: 542.700012 and range: 542.70 m.
2025-01-08T17:18:55.169Z,1736356735.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.210692
2025-01-08T17:18:55.420Z,1736356735.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.461668
2025-01-08T17:18:55.441Z,1736356735.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:55.450Z,1736356735.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.70 m.
2025-01-08T17:18:55.469Z,1736356735.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.700012 m,
      nav range: 533.595642 m,
      bearing: 266.831956 deg,
      approach rate: -0.514466 m/s,
      LOS rate: 0.001031 deg/s,
      cmd heading: 268.629482 deg,
      new cmd heading: 268.630550 deg.

2025-01-08T17:18:55.470Z,1736356735.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688488 target range: 542.700012 and range: 542.70 m.
2025-01-08T17:18:55.672Z,1736356735.672 [DAT](INFO): DAT read: Rx Time:17:18:54.4142

2025-01-08T17:18:55.673Z,1736356735.673 [DAT](INFO): Rx dataTimestamp_ set to:1736356735.672403
2025-01-08T17:18:55.673Z,1736356735.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.714569
2025-01-08T17:18:55.842Z,1736356735.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:55.850Z,1736356735.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.70 m.
2025-01-08T17:18:55.854Z,1736356735.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.700012 m,
      nav range: 533.389954 m,
      bearing: 266.832325 deg,
      approach rate: -0.513034 m/s,
      LOS rate: 0.000921 deg/s,
      cmd heading: 268.630548 deg,
      new cmd heading: 268.631655 deg.

2025-01-08T17:18:55.855Z,1736356735.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688507 target range: 542.700012 and range: 542.70 m.
2025-01-08T17:18:55.936Z,1736356735.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.976646
2025-01-08T17:18:56.197Z,1736356736.197 [DAT](INFO): DAT read: 17:18:54.4142 LVL= 22240, 27745, 22562, 32755, AGC= 66, IDX= 420, 0.18, 0.817,-0.702, 0.791, 0.137, PHS= 0.768,-0.793, 0.651, RAW= 146.2,  -8.4, CAL= 152.4, -17.1, ROT= 357.6,  17.1

2025-01-08T17:18:56.198Z,1736356736.198 [DAT](INFO): got valid direction response:
 17:18:54.4142 LVL= 22240, 27745, 22562, 32755, AGC= 66, IDX= 420, 0.18, 0.817,-0.702, 0.791, 0.137, PHS= 0.768,-0.793, 0.651, RAW= 146.2,  -8.4, CAL= 152.4, -17.1, ROT= 357.6,  17.1

2025-01-08T17:18:56.202Z,1736356736.202 [DAT](INFO): DAT read: Bearing 357.6,  17.1 (Local)

2025-01-08T17:18:56.203Z,1736356736.203 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.6,  17.1 (Local)

2025-01-08T17:18:56.241Z,1736356736.241 [DAT](INFO): DAT read: Range 10 to 50 : 546.9 m  (Round-trip  729.2 ms) speed  0.4 m/s

2025-01-08T17:18:56.242Z,1736356736.242 [DAT](INFO): DAT read: user:47>

2025-01-08T17:18:56.242Z,1736356736.242 [DAT](INFO): DAT read: Tx time:17:18:55.5308

2025-01-08T17:18:56.243Z,1736356736.243 [DAT](INFO): Ping request sent.
2025-01-08T17:18:56.243Z,1736356736.243 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:18:56.255Z,1736356736.255 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:18:56.256Z,1736356736.256 [DAT](INFO): direction in FSK: [0.954955,-0.040024,-0.294040]
2025-01-08T17:18:56.257Z,1736356736.257 [DAT](INFO): publishing transmit ping time
2025-01-08T17:18:56.257Z,1736356736.257 [DAT](INFO): publishing direction and range info
2025-01-08T17:18:56.272Z,1736356736.272 [DAT](INFO): publishing transmit ping time
2025-01-08T17:18:56.272Z,1736356736.272 [DAT](INFO): publishing direction and range info
2025-01-08T17:18:56.366Z,1736356736.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:56.399Z,1736356736.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 546.900024 m,
      deltaT: 4.289214 s,
      deltaX: 4.200012 m,
      approachRate: 0.979203 m/s,
      rangeRepo size: 4

2025-01-08T17:18:56.405Z,1736356736.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 546.900024 m,
      bearing: 267.997394 deg,
      lat: 36.903886 deg,
      lon: -122.119230 deg,
      deltaT: 4.289214 s,
      deltaX: 4.200012 m,
      approachRate: 0.979203 m/s,
      posRepo size: 4

2025-01-08T17:18:56.406Z,1736356736.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.90 m.
2025-01-08T17:18:56.413Z,1736356736.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 546.900024 m,
      nav range: 540.736816 m,
      bearing: 267.976590 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000921 deg/s,
      cmd heading: 268.631668 deg,
      new cmd heading: 268.633180 deg.

2025-01-08T17:18:56.414Z,1736356736.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688533 target range: 546.900024 and range: 546.90 m.
2025-01-08T17:18:56.437Z,1736356736.437 [DAT](INFO): DAT read: TxSync time:17:18:55.5301

2025-01-08T17:18:56.857Z,1736356736.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:56.866Z,1736356736.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.90 m.
2025-01-08T17:18:56.869Z,1736356736.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 546.900024 m,
      nav range: 540.485840 m,
      bearing: 267.977508 deg,
      approach rate: -0.536662 m/s,
      LOS rate: 0.001963 deg/s,
      cmd heading: 268.633171 deg,
      new cmd heading: 268.635925 deg.

2025-01-08T17:18:56.870Z,1736356736.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688581 target range: 546.900024 and range: 546.90 m.
2025-01-08T17:18:57.278Z,1736356737.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:57.286Z,1736356737.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:57.288Z,1736356737.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.90 m.
2025-01-08T17:18:57.291Z,1736356737.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 546.900024 m,
      nav range: 540.266724 m,
      bearing: 267.978156 deg,
      approach rate: -0.518244 m/s,
      LOS rate: 0.001533 deg/s,
      cmd heading: 268.635930 deg,
      new cmd heading: 268.637875 deg.

2025-01-08T17:18:57.292Z,1736356737.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688615 target range: 546.900024 and range: 546.90 m.
2025-01-08T17:18:57.448Z,1736356737.448 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:18:57.449Z,1736356737.449 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:18:57.449Z,1736356737.449 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:18:57.684Z,1736356737.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:57.701Z,1736356737.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.458299
2025-01-08T17:18:57.722Z,1736356737.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.90 m.
2025-01-08T17:18:57.730Z,1736356737.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 546.900024 m,
      nav range: 540.055359 m,
      bearing: 267.978787 deg,
      approach rate: -0.488441 m/s,
      LOS rate: 0.001460 deg/s,
      cmd heading: 268.637870 deg,
      new cmd heading: 268.639765 deg.

2025-01-08T17:18:57.736Z,1736356737.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688648 target range: 546.900024 and range: 546.90 m.
2025-01-08T17:18:57.959Z,1736356737.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.712241
2025-01-08T17:18:58.111Z,1736356738.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:58.120Z,1736356738.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.90 m.
2025-01-08T17:18:58.123Z,1736356738.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 546.900024 m,
      nav range: 539.823669 m,
      bearing: 267.978776 deg,
      approach rate: -0.580608 m/s,
      LOS rate: -0.000029 deg/s,
      cmd heading: 268.639755 deg,
      new cmd heading: 268.639721 deg.

2025-01-08T17:18:58.124Z,1736356738.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688648 target range: 546.900024 and range: 546.90 m.
2025-01-08T17:18:58.204Z,1736356738.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.961752
2025-01-08T17:18:58.457Z,1736356738.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214103
2025-01-08T17:18:58.500Z,1736356738.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:58.509Z,1736356738.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.90 m.
2025-01-08T17:18:58.513Z,1736356738.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 546.900024 m,
      nav range: 539.611938 m,
      bearing: 267.978687 deg,
      approach rate: -0.543924 m/s,
      LOS rate: -0.000227 deg/s,
      cmd heading: 268.639728 deg,
      new cmd heading: 268.639462 deg.

2025-01-08T17:18:58.514Z,1736356738.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688643 target range: 546.900024 and range: 546.90 m.
2025-01-08T17:18:58.709Z,1736356738.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466466
2025-01-08T17:18:58.884Z,1736356738.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:58.893Z,1736356738.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.90 m.
2025-01-08T17:18:58.896Z,1736356738.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 546.900024 m,
      nav range: 539.402954 m,
      bearing: 267.978560 deg,
      approach rate: -0.544799 m/s,
      LOS rate: -0.000333 deg/s,
      cmd heading: 268.639454 deg,
      new cmd heading: 268.639072 deg.

2025-01-08T17:18:58.897Z,1736356738.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688636 target range: 546.900024 and range: 546.90 m.
2025-01-08T17:18:58.966Z,1736356738.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722569
2025-01-08T17:18:59.212Z,1736356739.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969508
2025-01-08T17:18:59.319Z,1736356739.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:59.326Z,1736356739.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:18:59.328Z,1736356739.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.90 m.
2025-01-08T17:18:59.331Z,1736356739.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 546.900024 m,
      nav range: 539.163574 m,
      bearing: 267.978251 deg,
      approach rate: -0.550396 m/s,
      LOS rate: -0.000709 deg/s,
      cmd heading: 268.639072 deg,
      new cmd heading: 268.638146 deg.

2025-01-08T17:18:59.332Z,1736356739.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688620 target range: 546.900024 and range: 546.90 m.
2025-01-08T17:18:59.464Z,1736356739.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.221715
2025-01-08T17:18:59.718Z,1736356739.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.474908
2025-01-08T17:18:59.728Z,1736356739.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:18:59.753Z,1736356739.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.90 m.
2025-01-08T17:18:59.762Z,1736356739.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 546.900024 m,
      nav range: 538.937561 m,
      bearing: 267.977941 deg,
      approach rate: -0.531626 m/s,
      LOS rate: -0.000731 deg/s,
      cmd heading: 268.638143 deg,
      new cmd heading: 268.637210 deg.

2025-01-08T17:18:59.764Z,1736356739.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688604 target range: 546.900024 and range: 546.90 m.
2025-01-08T17:18:59.986Z,1736356739.986 [DAT](INFO): DAT read: Rx Time:17:18:58.6622

2025-01-08T17:18:59.988Z,1736356739.988 [DAT](INFO): Rx dataTimestamp_ set to:1736356739.986788
2025-01-08T17:18:59.990Z,1736356739.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746825
2025-01-08T17:19:00.130Z,1736356740.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:00.139Z,1736356740.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 546.90 m.
2025-01-08T17:19:00.142Z,1736356740.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 546.900024 m,
      nav range: 538.711365 m,
      bearing: 267.976728 deg,
      approach rate: -0.586560 m/s,
      LOS rate: -0.003145 deg/s,
      cmd heading: 268.637214 deg,
      new cmd heading: 268.633576 deg.

2025-01-08T17:19:00.143Z,1736356740.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688540 target range: 546.900024 and range: 546.90 m.
2025-01-08T17:19:00.221Z,1736356740.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.978317
2025-01-08T17:19:00.484Z,1736356740.484 [DAT](INFO): DAT read: 17:18:58.6622 LVL= 29360, 32753, 28914, 32755, AGC= 67, IDX= 328, 0.41, 2.730, 1.292, 2.660, 2.005, PHS= 0.813,-0.666, 0.652, RAW= 144.3, -11.4, CAL= 151.5, -20.3, ROT= 358.5,  20.3

2025-01-08T17:19:00.486Z,1736356740.486 [DAT](INFO): got valid direction response:
 17:18:58.6622 LVL= 29360, 32753, 28914, 32755, AGC= 67, IDX= 328, 0.41, 2.730, 1.292, 2.660, 2.005, PHS= 0.813,-0.666, 0.652, RAW= 144.3, -11.4, CAL= 151.5, -20.3, ROT= 358.5,  20.3

2025-01-08T17:19:00.487Z,1736356740.487 [DAT](INFO): DAT read: Bearing 358.5,  20.3 (Local)

2025-01-08T17:19:00.487Z,1736356740.487 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.5,  20.3 (Local)

2025-01-08T17:19:00.513Z,1736356740.513 [DAT](INFO): DAT read: Range 10 to 50 : 545.3 m  (Round-trip  727.1 ms) speed  0.4 m/s

2025-01-08T17:19:00.513Z,1736356740.513 [DAT](INFO): DAT read: user:48>

2025-01-08T17:19:00.514Z,1736356740.514 [DAT](INFO): DAT read: Tx time:17:18:59.7809

2025-01-08T17:19:00.514Z,1736356740.514 [DAT](INFO): Ping request sent.
2025-01-08T17:19:00.515Z,1736356740.515 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:19:00.515Z,1736356740.515 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:19:00.528Z,1736356740.528 [DAT](INFO): direction in FSK: [0.937568,-0.024551,-0.346936]
2025-01-08T17:19:00.529Z,1736356740.529 [DAT](INFO): publishing transmit ping time
2025-01-08T17:19:00.529Z,1736356740.529 [DAT](INFO): publishing direction and range info
2025-01-08T17:19:00.555Z,1736356740.555 [DAT](INFO): publishing transmit ping time
2025-01-08T17:19:00.556Z,1736356740.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:00.555Z,1736356740.555 [DAT](INFO): publishing direction and range info
2025-01-08T17:19:00.598Z,1736356740.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 545.299988 m,
      deltaT: 4.288009 s,
      deltaX: -1.600037 m,
      approachRate: -0.373142 m/s,
      rangeRepo size: 4

2025-01-08T17:19:00.630Z,1736356740.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 545.299988 m,
      bearing: 269.400459 deg,
      lat: 36.903953 deg,
      lon: -122.119284 deg,
      deltaT: 4.288009 s,
      deltaX: -1.600037 m,
      approachRate: -0.373142 m/s,
      posRepo size: 4

2025-01-08T17:19:00.638Z,1736356740.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.30 m.
2025-01-08T17:19:00.645Z,1736356740.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 545.299988 m,
      nav range: 543.056335 m,
      bearing: 268.773795 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003145 deg/s,
      cmd heading: 268.633580 deg,
      new cmd heading: 268.629256 deg.

2025-01-08T17:19:00.646Z,1736356740.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688465 target range: 545.299988 and range: 545.30 m.
2025-01-08T17:19:00.733Z,1736356740.733 [DAT](INFO): DAT read: TxSync time:17:18:59.7801

2025-01-08T17:19:00.933Z,1736356740.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:00.958Z,1736356740.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.30 m.
2025-01-08T17:19:00.965Z,1736356740.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 545.299988 m,
      nav range: 542.843262 m,
      bearing: 268.772950 deg,
      approach rate: -0.590481 m/s,
      LOS rate: -0.002341 deg/s,
      cmd heading: 268.629264 deg,
      new cmd heading: 268.626729 deg.

2025-01-08T17:19:00.966Z,1736356740.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688421 target range: 545.299988 and range: 545.30 m.
2025-01-08T17:19:01.349Z,1736356741.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:01.357Z,1736356741.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:01.360Z,1736356741.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.30 m.
2025-01-08T17:19:01.362Z,1736356741.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 545.299988 m,
      nav range: 542.606018 m,
      bearing: 268.772523 deg,
      approach rate: -0.591101 m/s,
      LOS rate: -0.001066 deg/s,
      cmd heading: 268.626723 deg,
      new cmd heading: 268.625439 deg.

2025-01-08T17:19:01.380Z,1736356741.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688398 target range: 545.299988 and range: 545.30 m.
2025-01-08T17:19:01.488Z,1736356741.488 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:01.488Z,1736356741.488 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:01.488Z,1736356741.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:19:01.742Z,1736356741.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227563
2025-01-08T17:19:01.765Z,1736356741.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:01.773Z,1736356741.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.30 m.
2025-01-08T17:19:01.776Z,1736356741.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 545.299988 m,
      nav range: 542.368469 m,
      bearing: 268.772108 deg,
      approach rate: -0.573842 m/s,
      LOS rate: -0.001003 deg/s,
      cmd heading: 268.625439 deg,
      new cmd heading: 268.624193 deg.

2025-01-08T17:19:01.777Z,1736356741.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688376 target range: 545.299988 and range: 545.30 m.
2025-01-08T17:19:01.996Z,1736356741.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480343
2025-01-08T17:19:02.155Z,1736356742.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:02.187Z,1736356742.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.30 m.
2025-01-08T17:19:02.190Z,1736356742.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 545.299988 m,
      nav range: 542.141846 m,
      bearing: 268.772316 deg,
      approach rate: -0.553028 m/s,
      LOS rate: 0.000509 deg/s,
      cmd heading: 268.624182 deg,
      new cmd heading: 268.624807 deg.

2025-01-08T17:19:02.196Z,1736356742.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688387 target range: 545.299988 and range: 545.30 m.
2025-01-08T17:19:02.244Z,1736356742.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.729917
2025-01-08T17:19:02.496Z,1736356742.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981638
2025-01-08T17:19:02.559Z,1736356742.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:02.568Z,1736356742.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.30 m.
2025-01-08T17:19:02.572Z,1736356742.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 545.299988 m,
      nav range: 541.906860 m,
      bearing: 268.772532 deg,
      approach rate: -0.611333 m/s,
      LOS rate: 0.000563 deg/s,
      cmd heading: 268.624810 deg,
      new cmd heading: 268.625459 deg.

2025-01-08T17:19:02.573Z,1736356742.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688399 target range: 545.299988 and range: 545.30 m.
2025-01-08T17:19:02.748Z,1736356742.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233664
2025-01-08T17:19:02.956Z,1736356742.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:02.973Z,1736356742.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.30 m.
2025-01-08T17:19:03.003Z,1736356743.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488019
2025-01-08T17:19:03.007Z,1736356743.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 545.299988 m,
      nav range: 541.676514 m,
      bearing: 268.772646 deg,
      approach rate: -0.568076 m/s,
      LOS rate: 0.000281 deg/s,
      cmd heading: 268.625466 deg,
      new cmd heading: 268.625808 deg.

2025-01-08T17:19:03.008Z,1736356743.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688405 target range: 545.299988 and range: 545.30 m.
2025-01-08T17:19:03.253Z,1736356743.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738354
2025-01-08T17:19:03.375Z,1736356743.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:03.382Z,1736356743.382 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:03.384Z,1736356743.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.30 m.
2025-01-08T17:19:03.388Z,1736356743.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 545.299988 m,
      nav range: 541.427063 m,
      bearing: 268.773060 deg,
      approach rate: -0.606539 m/s,
      LOS rate: 0.001007 deg/s,
      cmd heading: 268.625821 deg,
      new cmd heading: 268.627064 deg.

2025-01-08T17:19:03.389Z,1736356743.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688426 target range: 545.299988 and range: 545.30 m.
2025-01-08T17:19:03.507Z,1736356743.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992004
2025-01-08T17:19:03.756Z,1736356743.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241677
2025-01-08T17:19:03.765Z,1736356743.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:03.782Z,1736356743.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.30 m.
2025-01-08T17:19:03.805Z,1736356743.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 545.299988 m,
      nav range: 541.194946 m,
      bearing: 268.773436 deg,
      approach rate: -0.583783 m/s,
      LOS rate: 0.000947 deg/s,
      cmd heading: 268.627051 deg,
      new cmd heading: 268.628180 deg.

2025-01-08T17:19:03.806Z,1736356743.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688446 target range: 545.299988 and range: 545.30 m.
2025-01-08T17:19:04.009Z,1736356744.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494395
2025-01-08T17:19:04.187Z,1736356744.187 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:04.195Z,1736356744.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.30 m.
2025-01-08T17:19:04.198Z,1736356744.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 545.299988 m,
      nav range: 540.952209 m,
      bearing: 268.773983 deg,
      approach rate: -0.587177 m/s,
      LOS rate: 0.001322 deg/s,
      cmd heading: 268.628171 deg,
      new cmd heading: 268.629810 deg.

2025-01-08T17:19:04.199Z,1736356744.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688475 target range: 545.299988 and range: 545.30 m.
2025-01-08T17:19:04.260Z,1736356744.260 [DAT](INFO): DAT read: Rx Time:17:19:02.9089

2025-01-08T17:19:04.261Z,1736356744.261 [DAT](INFO): Rx dataTimestamp_ set to:1736356744.260622
2025-01-08T17:19:04.261Z,1736356744.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746897
2025-01-08T17:19:04.512Z,1736356744.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.997643
2025-01-08T17:19:04.588Z,1736356744.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:04.629Z,1736356744.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 545.30 m.
2025-01-08T17:19:04.646Z,1736356744.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 545.299988 m,
      nav range: 540.720703 m,
      bearing: 268.774504 deg,
      approach rate: -0.541638 m/s,
      LOS rate: 0.001221 deg/s,
      cmd heading: 268.629810 deg,
      new cmd heading: 268.631375 deg.

2025-01-08T17:19:04.655Z,1736356744.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688502 target range: 545.299988 and range: 545.30 m.
2025-01-08T17:19:04.771Z,1736356744.771 [DAT](INFO): DAT read: 17:19:02.9089 LVL= 27184, 32753, 26226, 32755, AGC= 67, IDX= 313, 0.23,-2.356, 2.435,-2.382,-3.039, PHS= 0.770,-0.763, 0.654, RAW= 146.1,  -9.0, CAL= 152.5, -17.7, ROT= 357.5,  17.7

2025-01-08T17:19:04.772Z,1736356744.772 [DAT](INFO): got valid direction response:
 17:19:02.9089 LVL= 27184, 32753, 26226, 32755, AGC= 67, IDX= 313, 0.23,-2.356, 2.435,-2.382,-3.039, PHS= 0.770,-0.763, 0.654, RAW= 146.1,  -9.0, CAL= 152.5, -17.7, ROT= 357.5,  17.7

2025-01-08T17:19:04.773Z,1736356744.773 [DAT](INFO): DAT read: Bearing 357.5,  17.7 (Local)

2025-01-08T17:19:04.773Z,1736356744.773 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.5,  17.7 (Local)

2025-01-08T17:19:04.776Z,1736356744.776 [DAT](INFO): DAT read: Range 10 to 50 : 542.9 m  (Round-trip  723.9 ms) speed  0.3 m/s

2025-01-08T17:19:04.777Z,1736356744.777 [DAT](INFO): DAT read: user:49>

2025-01-08T17:19:04.777Z,1736356744.777 [DAT](INFO): DAT read: Tx time:17:19:04.0309

2025-01-08T17:19:04.778Z,1736356744.778 [DAT](INFO): Ping request sent.
2025-01-08T17:19:04.778Z,1736356744.778 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:19:04.778Z,1736356744.778 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:19:04.779Z,1736356744.779 [DAT](INFO): direction in FSK: [0.951755,-0.041555,-0.304033]
2025-01-08T17:19:04.780Z,1736356744.780 [DAT](INFO): publishing transmit ping time
2025-01-08T17:19:04.780Z,1736356744.780 [DAT](INFO): publishing direction and range info
2025-01-08T17:19:04.783Z,1736356744.783 [DAT](INFO): publishing transmit ping time
2025-01-08T17:19:04.783Z,1736356744.783 [DAT](INFO): publishing direction and range info
2025-01-08T17:19:04.971Z,1736356744.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:05.010Z,1736356745.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 542.900024 m,
      deltaT: 4.292565 s,
      deltaX: -2.399963 m,
      approachRate: -0.559098 m/s,
      rangeRepo size: 4

2025-01-08T17:19:05.017Z,1736356745.017 [DAT](INFO): DAT read: TxSync time:17:19:04.0301

2025-01-08T17:19:05.024Z,1736356745.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 542.900024 m,
      bearing: 268.277599 deg,
      lat: 36.903953 deg,
      lon: -122.119302 deg,
      deltaT: 4.292565 s,
      deltaX: -2.399963 m,
      approachRate: -0.559098 m/s,
      posRepo size: 4

2025-01-08T17:19:05.025Z,1736356745.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.90 m.
2025-01-08T17:19:05.033Z,1736356745.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.900024 m,
      nav range: 542.101990 m,
      bearing: 268.778646 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001221 deg/s,
      cmd heading: 268.631367 deg,
      new cmd heading: 268.632784 deg.

2025-01-08T17:19:05.034Z,1736356745.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688527 target range: 542.900024 and range: 542.90 m.
2025-01-08T17:19:05.400Z,1736356745.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:05.408Z,1736356745.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:05.410Z,1736356745.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.90 m.
2025-01-08T17:19:05.413Z,1736356745.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.900024 m,
      nav range: 541.846619 m,
      bearing: 268.779412 deg,
      approach rate: -0.637589 m/s,
      LOS rate: 0.001912 deg/s,
      cmd heading: 268.632788 deg,
      new cmd heading: 268.635086 deg.

2025-01-08T17:19:05.414Z,1736356745.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688567 target range: 542.900024 and range: 542.90 m.
2025-01-08T17:19:05.520Z,1736356745.520 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:05.521Z,1736356745.521 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:05.521Z,1736356745.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:19:05.772Z,1736356745.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994620
2025-01-08T17:19:05.790Z,1736356745.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:05.798Z,1736356745.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.90 m.
2025-01-08T17:19:05.801Z,1736356745.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.900024 m,
      nav range: 541.616943 m,
      bearing: 268.780101 deg,
      approach rate: -0.591817 m/s,
      LOS rate: 0.001777 deg/s,
      cmd heading: 268.635083 deg,
      new cmd heading: 268.637152 deg.

2025-01-08T17:19:05.804Z,1736356745.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688603 target range: 542.900024 and range: 542.90 m.
2025-01-08T17:19:06.024Z,1736356746.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246591
2025-01-08T17:19:06.196Z,1736356746.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:06.206Z,1736356746.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.90 m.
2025-01-08T17:19:06.208Z,1736356746.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.900024 m,
      nav range: 541.382935 m,
      bearing: 268.780888 deg,
      approach rate: -0.574362 m/s,
      LOS rate: 0.001933 deg/s,
      cmd heading: 268.637159 deg,
      new cmd heading: 268.639522 deg.

2025-01-08T17:19:06.210Z,1736356746.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688644 target range: 542.900024 and range: 542.90 m.
2025-01-08T17:19:06.278Z,1736356746.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500285
2025-01-08T17:19:06.528Z,1736356746.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750591
2025-01-08T17:19:06.589Z,1736356746.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:06.598Z,1736356746.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.90 m.
2025-01-08T17:19:06.601Z,1736356746.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.900024 m,
      nav range: 541.156372 m,
      bearing: 268.781692 deg,
      approach rate: -0.577341 m/s,
      LOS rate: 0.002048 deg/s,
      cmd heading: 268.639509 deg,
      new cmd heading: 268.641920 deg.

2025-01-08T17:19:06.603Z,1736356746.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688686 target range: 542.900024 and range: 542.90 m.
2025-01-08T17:19:06.780Z,1736356746.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002448
2025-01-08T17:19:06.983Z,1736356746.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:06.992Z,1736356746.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.90 m.
2025-01-08T17:19:06.995Z,1736356746.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.900024 m,
      nav range: 540.929688 m,
      bearing: 268.782508 deg,
      approach rate: -0.574845 m/s,
      LOS rate: 0.002070 deg/s,
      cmd heading: 268.641913 deg,
      new cmd heading: 268.644362 deg.

2025-01-08T17:19:06.996Z,1736356746.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688729 target range: 542.900024 and range: 542.90 m.
2025-01-08T17:19:07.034Z,1736356747.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256308
2025-01-08T17:19:07.284Z,1736356747.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506488
2025-01-08T17:19:07.419Z,1736356747.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:07.426Z,1736356747.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:07.428Z,1736356747.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.90 m.
2025-01-08T17:19:07.431Z,1736356747.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.900024 m,
      nav range: 540.678345 m,
      bearing: 268.783338 deg,
      approach rate: -0.576751 m/s,
      LOS rate: 0.001907 deg/s,
      cmd heading: 268.644372 deg,
      new cmd heading: 268.646865 deg.

2025-01-08T17:19:07.432Z,1736356747.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688772 target range: 542.900024 and range: 542.90 m.
2025-01-08T17:19:07.536Z,1736356747.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758701
2025-01-08T17:19:07.789Z,1736356747.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010739
2025-01-08T17:19:07.878Z,1736356747.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:07.886Z,1736356747.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.90 m.
2025-01-08T17:19:07.894Z,1736356747.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.900024 m,
      nav range: 540.412781 m,
      bearing: 268.784208 deg,
      approach rate: -0.580100 m/s,
      LOS rate: 0.001901 deg/s,
      cmd heading: 268.646858 deg,
      new cmd heading: 268.649470 deg.

2025-01-08T17:19:07.895Z,1736356747.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688818 target range: 542.900024 and range: 542.90 m.
2025-01-08T17:19:08.040Z,1736356748.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262608
2025-01-08T17:19:08.292Z,1736356748.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514692
2025-01-08T17:19:08.309Z,1736356748.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:08.319Z,1736356748.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.90 m.
2025-01-08T17:19:08.325Z,1736356748.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.900024 m,
      nav range: 540.162964 m,
      bearing: 268.785469 deg,
      approach rate: -0.578284 m/s,
      LOS rate: 0.002920 deg/s,
      cmd heading: 268.649481 deg,
      new cmd heading: 268.653265 deg.

2025-01-08T17:19:08.326Z,1736356748.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688884 target range: 542.900024 and range: 542.90 m.
2025-01-08T17:19:08.545Z,1736356748.545 [DAT](INFO): DAT read: Rx Time:17:19:07.1560

2025-01-08T17:19:08.546Z,1736356748.546 [DAT](INFO): Rx dataTimestamp_ set to:1736356748.545680
2025-01-08T17:19:08.546Z,1736356748.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768740
2025-01-08T17:19:08.745Z,1736356748.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:08.754Z,1736356748.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 542.90 m.
2025-01-08T17:19:08.757Z,1736356748.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 542.900024 m,
      nav range: 539.910828 m,
      bearing: 268.786736 deg,
      approach rate: -0.578176 m/s,
      LOS rate: 0.002907 deg/s,
      cmd heading: 268.653279 deg,
      new cmd heading: 268.657082 deg.

2025-01-08T17:19:08.758Z,1736356748.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688951 target range: 542.900024 and range: 542.90 m.
2025-01-08T17:19:08.797Z,1736356748.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018801
2025-01-08T17:19:09.059Z,1736356749.059 [DAT](INFO): DAT read: 17:19:07.1560 LVL= 22752, 32753, 26194, 32755, AGC= 71, IDX= 419,-0.37,-1.215,-2.538,-1.188,-2.040, PHS= 0.913,-0.451, 0.849, RAW= 147.6, -19.2, CAL= 153.2, -26.5, ROT= 356.8,  26.5

2025-01-08T17:19:09.060Z,1736356749.060 [DAT](INFO): got valid direction response:
 17:19:07.1560 LVL= 22752, 32753, 26194, 32755, AGC= 71, IDX= 419,-0.37,-1.215,-2.538,-1.188,-2.040, PHS= 0.913,-0.451, 0.849, RAW= 147.6, -19.2, CAL= 153.2, -26.5, ROT= 356.8,  26.5

2025-01-08T17:19:09.061Z,1736356749.061 [DAT](INFO): DAT read: Bearing 356.8,  26.5 (Local)

2025-01-08T17:19:09.061Z,1736356749.061 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.8,  26.5 (Local)

2025-01-08T17:19:09.063Z,1736356749.063 [DAT](INFO): DAT read: Range 10 to 50 : 540.6 m  (Round-trip  720.9 ms) speed  0.4 m/s

2025-01-08T17:19:09.063Z,1736356749.063 [DAT](INFO): DAT read: user:50>

2025-01-08T17:19:09.064Z,1736356749.064 [DAT](INFO): DAT read: Tx time:17:19:08.2809

2025-01-08T17:19:09.065Z,1736356749.065 [DAT](INFO): Ping request sent.
2025-01-08T17:19:09.065Z,1736356749.065 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:19:09.065Z,1736356749.065 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:19:09.066Z,1736356749.066 [DAT](INFO): direction in FSK: [0.893539,-0.049957,-0.446198]
2025-01-08T17:19:09.066Z,1736356749.066 [DAT](INFO): publishing transmit ping time
2025-01-08T17:19:09.066Z,1736356749.066 [DAT](INFO): publishing direction and range info
2025-01-08T17:19:09.071Z,1736356749.071 [DAT](INFO): publishing transmit ping time
2025-01-08T17:19:09.071Z,1736356749.071 [DAT](INFO): publishing direction and range info
2025-01-08T17:19:09.259Z,1736356749.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:09.287Z,1736356749.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 540.599976 m,
      deltaT: 4.287951 s,
      deltaX: -2.300049 m,
      approachRate: -0.536398 m/s,
      rangeRepo size: 4

2025-01-08T17:19:09.293Z,1736356749.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 540.599976 m,
      bearing: 268.379160 deg,
      lat: 36.903921 deg,
      lon: -122.119302 deg,
      deltaT: 4.287951 s,
      deltaX: -2.300049 m,
      approachRate: -0.536398 m/s,
      posRepo size: 4

2025-01-08T17:19:09.294Z,1736356749.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.60 m.
2025-01-08T17:19:09.297Z,1736356749.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.599976 m,
      nav range: 539.700012 m,
      bearing: 268.406307 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002907 deg/s,
      cmd heading: 268.657076 deg,
      new cmd heading: 268.661717 deg.

2025-01-08T17:19:09.298Z,1736356749.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689032 target range: 540.599976 and range: 540.60 m.
2025-01-08T17:19:09.301Z,1736356749.301 [DAT](INFO): DAT read: TxSync time:17:19:08.2801

2025-01-08T17:19:09.572Z,1736356749.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:09.581Z,1736356749.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:09.583Z,1736356749.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.60 m.
2025-01-08T17:19:09.587Z,1736356749.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.599976 m,
      nav range: 539.517700 m,
      bearing: 268.406584 deg,
      approach rate: -0.614197 m/s,
      LOS rate: 0.000934 deg/s,
      cmd heading: 268.661721 deg,
      new cmd heading: 268.662553 deg.

2025-01-08T17:19:09.588Z,1736356749.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689046 target range: 540.599976 and range: 540.60 m.
2025-01-08T17:19:09.805Z,1736356749.805 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:09.805Z,1736356749.805 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:09.805Z,1736356749.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:19:09.968Z,1736356749.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:09.977Z,1736356749.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.60 m.
2025-01-08T17:19:09.993Z,1736356749.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.599976 m,
      nav range: 539.287170 m,
      bearing: 268.406937 deg,
      approach rate: -0.585660 m/s,
      LOS rate: 0.000898 deg/s,
      cmd heading: 268.662540 deg,
      new cmd heading: 268.663601 deg.

2025-01-08T17:19:09.994Z,1736356749.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689065 target range: 540.599976 and range: 540.60 m.
2025-01-08T17:19:10.057Z,1736356750.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992567
2025-01-08T17:19:10.308Z,1736356750.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243618
2025-01-08T17:19:10.440Z,1736356750.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:10.449Z,1736356750.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.60 m.
2025-01-08T17:19:10.452Z,1736356750.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.599976 m,
      nav range: 539.013977 m,
      bearing: 268.407152 deg,
      approach rate: -0.578399 m/s,
      LOS rate: 0.000454 deg/s,
      cmd heading: 268.663606 deg,
      new cmd heading: 268.664249 deg.

2025-01-08T17:19:10.453Z,1736356750.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689076 target range: 540.599976 and range: 540.60 m.
2025-01-08T17:19:10.561Z,1736356750.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496060
2025-01-08T17:19:10.773Z,1736356750.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:10.787Z,1736356750.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.60 m.
2025-01-08T17:19:10.792Z,1736356750.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.599976 m,
      nav range: 538.820984 m,
      bearing: 268.407250 deg,
      approach rate: -0.571410 m/s,
      LOS rate: 0.000289 deg/s,
      cmd heading: 268.664262 deg,
      new cmd heading: 268.664555 deg.

2025-01-08T17:19:10.793Z,1736356750.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689081 target range: 540.599976 and range: 540.60 m.
2025-01-08T17:19:10.812Z,1736356750.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747741
2025-01-08T17:19:11.065Z,1736356751.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000332
2025-01-08T17:19:11.247Z,1736356751.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:11.257Z,1736356751.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.60 m.
2025-01-08T17:19:11.260Z,1736356751.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.599976 m,
      nav range: 538.545166 m,
      bearing: 268.407070 deg,
      approach rate: -0.586666 m/s,
      LOS rate: -0.000382 deg/s,
      cmd heading: 268.664562 deg,
      new cmd heading: 268.664024 deg.

2025-01-08T17:19:11.261Z,1736356751.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689072 target range: 540.599976 and range: 540.60 m.
2025-01-08T17:19:11.317Z,1736356751.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252542
2025-01-08T17:19:11.569Z,1736356751.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504502
2025-01-08T17:19:11.584Z,1736356751.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:11.591Z,1736356751.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:11.593Z,1736356751.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.60 m.
2025-01-08T17:19:11.602Z,1736356751.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.599976 m,
      nav range: 538.348816 m,
      bearing: 268.406883 deg,
      approach rate: -0.583067 m/s,
      LOS rate: -0.000555 deg/s,
      cmd heading: 268.664016 deg,
      new cmd heading: 268.663455 deg.

2025-01-08T17:19:11.604Z,1736356751.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689062 target range: 540.599976 and range: 540.60 m.
2025-01-08T17:19:11.822Z,1736356751.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756911
2025-01-08T17:19:12.030Z,1736356752.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:12.045Z,1736356752.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.60 m.
2025-01-08T17:19:12.048Z,1736356752.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.599976 m,
      nav range: 538.088806 m,
      bearing: 268.406559 deg,
      approach rate: -0.575244 m/s,
      LOS rate: -0.000718 deg/s,
      cmd heading: 268.663442 deg,
      new cmd heading: 268.662468 deg.

2025-01-08T17:19:12.049Z,1736356752.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689044 target range: 540.599976 and range: 540.60 m.
2025-01-08T17:19:12.073Z,1736356752.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008173
2025-01-08T17:19:12.324Z,1736356752.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259825
2025-01-08T17:19:12.446Z,1736356752.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:12.472Z,1736356752.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.60 m.
2025-01-08T17:19:12.474Z,1736356752.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.599976 m,
      nav range: 537.843140 m,
      bearing: 268.406241 deg,
      approach rate: -0.599529 m/s,
      LOS rate: -0.000775 deg/s,
      cmd heading: 268.662458 deg,
      new cmd heading: 268.661506 deg.

2025-01-08T17:19:12.479Z,1736356752.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689028 target range: 540.599976 and range: 540.60 m.
2025-01-08T17:19:12.578Z,1736356752.578 [DAT](INFO): DAT read: Rx Time:17:19:11.4049

2025-01-08T17:19:12.578Z,1736356752.578 [DAT](INFO): Rx dataTimestamp_ set to:1736356752.577842
2025-01-08T17:19:12.579Z,1736356752.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514418
2025-01-08T17:19:12.828Z,1736356752.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763655
2025-01-08T17:19:12.838Z,1736356752.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:12.847Z,1736356752.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.60 m.
2025-01-08T17:19:12.850Z,1736356752.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.599976 m,
      nav range: 537.612183 m,
      bearing: 268.405893 deg,
      approach rate: -0.590236 m/s,
      LOS rate: -0.000890 deg/s,
      cmd heading: 268.661502 deg,
      new cmd heading: 268.660457 deg.

2025-01-08T17:19:12.851Z,1736356752.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689010 target range: 540.599976 and range: 540.60 m.
2025-01-08T17:19:13.081Z,1736356753.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016143
2025-01-08T17:19:13.317Z,1736356753.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:13.330Z,1736356753.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 540.60 m.
2025-01-08T17:19:13.340Z,1736356753.340 [DAT](INFO): DAT read: 17:19:11.4049 LVL= 26096, 31441, 22258, 32755, AGC= 71, IDX= 313,-0.44,-1.802, 2.819,-2.012,-2.631, PHS= 0.917,-0.786, 0.617, RAW= 140.5,  -9.5, CAL= 147.2, -19.4, ROT=   2.8,  19.4

2025-01-08T17:19:13.341Z,1736356753.341 [DAT](INFO): got valid direction response:
 17:19:11.4049 LVL= 26096, 31441, 22258, 32755, AGC= 71, IDX= 313,-0.44,-1.802, 2.819,-2.012,-2.631, PHS= 0.917,-0.786, 0.617, RAW= 140.5,  -9.5, CAL= 147.2, -19.4, ROT=   2.8,  19.4

2025-01-08T17:19:13.342Z,1736356753.342 [DAT](INFO): DAT read: Bearing   2.8,  19.4 (Local)

2025-01-08T17:19:13.342Z,1736356753.342 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.8,  19.4 (Local)

2025-01-08T17:19:13.356Z,1736356753.356 [DAT](INFO): DAT read: Range 10 to 50 : 539.8 m  (Round-trip  719.8 ms) speed  0.4 m/s

2025-01-08T17:19:13.357Z,1736356753.357 [DAT](INFO): DAT read: user:51>

2025-01-08T17:19:13.358Z,1736356753.358 [DAT](INFO): DAT read: Tx time:17:19:12.4810

2025-01-08T17:19:13.358Z,1736356753.358 [DAT](INFO): Ping request sent.
2025-01-08T17:19:13.358Z,1736356753.358 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:19:13.359Z,1736356753.359 [DAT](INFO): DAT read: TxSync time:17:19:12.4802

2025-01-08T17:19:13.368Z,1736356753.368 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:19:13.369Z,1736356753.369 [DAT](INFO): direction in FSK: [0.942097,0.046076,-0.332161]
2025-01-08T17:19:13.370Z,1736356753.370 [DAT](INFO): publishing transmit ping time
2025-01-08T17:19:13.370Z,1736356753.370 [DAT](INFO): publishing direction and range info
2025-01-08T17:19:13.373Z,1736356753.373 [DAT](INFO): publishing transmit ping time
2025-01-08T17:19:13.374Z,1736356753.374 [DAT](INFO): publishing direction and range info
2025-01-08T17:19:13.381Z,1736356753.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 540.599976 m,
      nav range: 537.330566 m,
      bearing: 268.405665 deg,
      approach rate: -0.582227 m/s,
      LOS rate: -0.000473 deg/s,
      cmd heading: 268.660464 deg,
      new cmd heading: 268.659778 deg.

2025-01-08T17:19:13.382Z,1736356753.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688998 target range: 540.599976 and range: 540.60 m.
2025-01-08T17:19:13.816Z,1736356753.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:13.860Z,1736356753.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 539.799988 m,
      deltaT: 4.279734 s,
      deltaX: -0.799988 m,
      approachRate: -0.186925 m/s,
      rangeRepo size: 4

2025-01-08T17:19:13.862Z,1736356753.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 539.799988 m,
      bearing: 273.992493 deg,
      lat: 36.904006 deg,
      lon: -122.119302 deg,
      deltaT: 4.279734 s,
      deltaX: -0.799988 m,
      approachRate: -0.186925 m/s,
      posRepo size: 4

2025-01-08T17:19:13.868Z,1736356753.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:13.871Z,1736356753.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 536.855225 m,
      bearing: 269.422140 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000473 deg/s,
      cmd heading: 268.659781 deg,
      new cmd heading: 268.659036 deg.

2025-01-08T17:19:13.876Z,1736356753.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688985 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:14.290Z,1736356754.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:14.323Z,1736356754.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:14.325Z,1736356754.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:14.328Z,1736356754.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 536.579895 m,
      bearing: 269.422465 deg,
      approach rate: -0.586440 m/s,
      LOS rate: 0.000693 deg/s,
      cmd heading: 268.659043 deg,
      new cmd heading: 268.660019 deg.

2025-01-08T17:19:14.329Z,1736356754.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689002 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:14.340Z,1736356754.340 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:14.340Z,1736356754.340 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:14.341Z,1736356754.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:19:14.592Z,1736356754.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234016
2025-01-08T17:19:14.642Z,1736356754.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:14.652Z,1736356754.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:14.656Z,1736356754.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 536.375183 m,
      bearing: 269.422707 deg,
      approach rate: -0.627748 m/s,
      LOS rate: 0.000742 deg/s,
      cmd heading: 268.660027 deg,
      new cmd heading: 268.660753 deg.

2025-01-08T17:19:14.657Z,1736356754.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689015 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:14.844Z,1736356754.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486121
2025-01-08T17:19:15.028Z,1736356755.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:15.037Z,1736356755.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:15.056Z,1736356755.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 536.148926 m,
      bearing: 269.422799 deg,
      approach rate: -0.586369 m/s,
      LOS rate: 0.000240 deg/s,
      cmd heading: 268.660765 deg,
      new cmd heading: 268.661042 deg.

2025-01-08T17:19:15.057Z,1736356755.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689020 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:15.098Z,1736356755.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739779
2025-01-08T17:19:15.349Z,1736356755.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990934
2025-01-08T17:19:15.457Z,1736356755.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:15.466Z,1736356755.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:15.470Z,1736356755.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 535.894348 m,
      bearing: 269.422677 deg,
      approach rate: -0.593889 m/s,
      LOS rate: -0.000285 deg/s,
      cmd heading: 268.661038 deg,
      new cmd heading: 268.660671 deg.

2025-01-08T17:19:15.472Z,1736356755.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689013 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:15.560Z,1736356755.560 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:19:15.601Z,1736356755.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242525
2025-01-08T17:19:15.845Z,1736356755.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:15.853Z,1736356755.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495010
2025-01-08T17:19:15.857Z,1736356755.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:15.860Z,1736356755.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 535.662842 m,
      bearing: 269.422486 deg,
      approach rate: -0.591711 m/s,
      LOS rate: -0.000489 deg/s,
      cmd heading: 268.660683 deg,
      new cmd heading: 268.660109 deg.

2025-01-08T17:19:15.861Z,1736356755.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689003 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:16.104Z,1736356756.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746102
2025-01-08T17:19:16.317Z,1736356756.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:16.328Z,1736356756.328 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:16.330Z,1736356756.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:16.333Z,1736356756.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 535.381592 m,
      bearing: 269.422288 deg,
      approach rate: -0.594083 m/s,
      LOS rate: -0.000419 deg/s,
      cmd heading: 268.660109 deg,
      new cmd heading: 268.659514 deg.

2025-01-08T17:19:16.334Z,1736356756.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688993 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:16.356Z,1736356756.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998193
2025-01-08T17:19:16.564Z,1736356756.564 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:19:16.608Z,1736356756.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249975
2025-01-08T17:19:16.750Z,1736356756.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:16.759Z,1736356756.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:16.762Z,1736356756.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 535.122864 m,
      bearing: 269.422073 deg,
      approach rate: -0.603414 m/s,
      LOS rate: -0.000501 deg/s,
      cmd heading: 268.659508 deg,
      new cmd heading: 268.658864 deg.

2025-01-08T17:19:16.763Z,1736356756.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688982 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:16.861Z,1736356756.861 [DAT](INFO): DAT read: Rx Time:17:19:15.5912

2025-01-08T17:19:16.861Z,1736356756.861 [DAT](INFO): Rx dataTimestamp_ set to:1736356756.860754
2025-01-08T17:19:16.862Z,1736356756.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503353
2025-01-08T17:19:17.113Z,1736356757.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754479
2025-01-08T17:19:17.192Z,1736356757.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:17.200Z,1736356757.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:17.204Z,1736356757.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 534.858826 m,
      bearing: 269.421849 deg,
      approach rate: -0.599196 m/s,
      LOS rate: -0.000508 deg/s,
      cmd heading: 268.658852 deg,
      new cmd heading: 268.658180 deg.

2025-01-08T17:19:17.205Z,1736356757.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688970 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:17.372Z,1736356757.372 [DAT](INFO): DAT read: 17:19:15.5912 LVL= 24400, 30193, 23282, 32755, AGC= 69, IDX= 391, 0.24, 2.648, 1.056, 2.609, 1.889, PHS= 0.847,-0.786, 0.717, RAW= 145.9,  -9.9, CAL= 152.6, -18.6, ROT= 357.4,  18.6

2025-01-08T17:19:17.373Z,1736356757.373 [DAT](INFO): got valid direction response:
 17:19:15.5912 LVL= 24400, 30193, 23282, 32755, AGC= 69, IDX= 391, 0.24, 2.648, 1.056, 2.609, 1.889, PHS= 0.847,-0.786, 0.717, RAW= 145.9,  -9.9, CAL= 152.6, -18.6, ROT= 357.4,  18.6

2025-01-08T17:19:17.373Z,1736356757.373 [DAT](INFO): DAT read: $Error in header

2025-01-08T17:19:17.375Z,1736356757.375 [DAT](INFO): Received a bad header
2025-01-08T17:19:17.392Z,1736356757.392 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-08T17:19:17.393Z,1736356757.393 [DAT](INFO): direction in FSK: [0.946793,-0.042994,-0.318959]
2025-01-08T17:19:17.396Z,1736356757.396 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:17.396Z,1736356757.396 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:17.396Z,1736356757.396 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:17.617Z,1736356757.617 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:17.617Z,1736356757.617 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:17.618Z,1736356757.618 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:17.754Z,1736356757.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:17.763Z,1736356757.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:17.777Z,1736356757.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 534.521240 m,
      bearing: 269.420986 deg,
      approach rate: -0.599912 m/s,
      LOS rate: -0.001535 deg/s,
      cmd heading: 268.658169 deg,
      new cmd heading: 268.655577 deg.

2025-01-08T17:19:17.778Z,1736356757.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688924 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:17.869Z,1736356757.869 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:17.869Z,1736356757.869 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:17.870Z,1736356757.870 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:18.121Z,1736356758.121 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:18.121Z,1736356758.121 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:18.121Z,1736356758.121 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:18.130Z,1736356758.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:18.177Z,1736356758.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:18.188Z,1736356758.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 534.295349 m,
      bearing: 269.420417 deg,
      approach rate: -0.545159 m/s,
      LOS rate: -0.001374 deg/s,
      cmd heading: 268.655574 deg,
      new cmd heading: 268.653866 deg.

2025-01-08T17:19:18.189Z,1736356758.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688894 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:18.375Z,1736356758.375 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:18.375Z,1736356758.375 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:18.375Z,1736356758.375 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:18.594Z,1736356758.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:18.601Z,1736356758.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:18.604Z,1736356758.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:18.607Z,1736356758.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 534.017151 m,
      bearing: 269.419894 deg,
      approach rate: -0.651007 m/s,
      LOS rate: -0.001223 deg/s,
      cmd heading: 268.653852 deg,
      new cmd heading: 268.652284 deg.

2025-01-08T17:19:18.608Z,1736356758.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688867 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:18.624Z,1736356758.624 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:18.624Z,1736356758.624 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:18.624Z,1736356758.624 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:18.876Z,1736356758.876 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:18.876Z,1736356758.876 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:18.876Z,1736356758.876 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:18.970Z,1736356758.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:18.991Z,1736356758.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:19.005Z,1736356759.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 533.791443 m,
      bearing: 269.419486 deg,
      approach rate: -0.583970 m/s,
      LOS rate: -0.001057 deg/s,
      cmd heading: 268.652295 deg,
      new cmd heading: 268.651070 deg.

2025-01-08T17:19:19.006Z,1736356759.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688846 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:19.129Z,1736356759.129 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:19.129Z,1736356759.129 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:19.129Z,1736356759.129 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:19.382Z,1736356759.382 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:19.382Z,1736356759.382 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:19.382Z,1736356759.382 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:19.486Z,1736356759.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:19.495Z,1736356759.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:19.498Z,1736356759.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 533.482483 m,
      bearing: 269.418784 deg,
      approach rate: -0.612928 m/s,
      LOS rate: -0.001394 deg/s,
      cmd heading: 268.651066 deg,
      new cmd heading: 268.648957 deg.

2025-01-08T17:19:19.499Z,1736356759.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688809 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:19.632Z,1736356759.632 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:19.632Z,1736356759.632 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:19.632Z,1736356759.632 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:19.850Z,1736356759.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:19.860Z,1736356759.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:19.869Z,1736356759.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 533.264038 m,
      bearing: 269.418269 deg,
      approach rate: -0.599157 m/s,
      LOS rate: -0.001414 deg/s,
      cmd heading: 268.648962 deg,
      new cmd heading: 268.647416 deg.

2025-01-08T17:19:19.871Z,1736356759.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688782 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:19.886Z,1736356759.886 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:19.886Z,1736356759.886 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:19.886Z,1736356759.886 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:20.136Z,1736356760.136 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:20.136Z,1736356760.136 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:20.136Z,1736356760.136 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:20.362Z,1736356760.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:20.388Z,1736356760.388 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:20.388Z,1736356760.388 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:20.388Z,1736356760.388 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:20.392Z,1736356760.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:20.395Z,1736356760.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 532.957703 m,
      bearing: 269.417221 deg,
      approach rate: -0.580064 m/s,
      LOS rate: -0.001985 deg/s,
      cmd heading: 268.647405 deg,
      new cmd heading: 268.644259 deg.

2025-01-08T17:19:20.400Z,1736356760.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688727 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:20.642Z,1736356760.642 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:20.642Z,1736356760.642 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:20.642Z,1736356760.642 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:20.734Z,1736356760.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:20.742Z,1736356760.742 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:20.744Z,1736356760.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:20.747Z,1736356760.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 532.735046 m,
      bearing: 269.416435 deg,
      approach rate: -0.624425 m/s,
      LOS rate: -0.002204 deg/s,
      cmd heading: 268.644263 deg,
      new cmd heading: 268.641905 deg.

2025-01-08T17:19:20.769Z,1736356760.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688686 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:20.892Z,1736356760.892 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:20.892Z,1736356760.892 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:20.892Z,1736356760.892 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:21.145Z,1736356761.145 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:21.145Z,1736356761.145 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:21.145Z,1736356761.145 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:21.248Z,1736356761.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:21.259Z,1736356761.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:21.262Z,1736356761.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 532.427185 m,
      bearing: 269.415341 deg,
      approach rate: -0.598064 m/s,
      LOS rate: -0.002127 deg/s,
      cmd heading: 268.641913 deg,
      new cmd heading: 268.638628 deg.

2025-01-08T17:19:21.263Z,1736356761.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688629 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:21.396Z,1736356761.396 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:21.396Z,1736356761.396 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:21.396Z,1736356761.396 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:21.648Z,1736356761.648 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:21.648Z,1736356761.648 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:21.648Z,1736356761.648 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:21.667Z,1736356761.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:21.688Z,1736356761.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:21.690Z,1736356761.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 532.178650 m,
      bearing: 269.414361 deg,
      approach rate: -0.585264 m/s,
      LOS rate: -0.002308 deg/s,
      cmd heading: 268.638635 deg,
      new cmd heading: 268.635695 deg.

2025-01-08T17:19:21.696Z,1736356761.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688577 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:21.900Z,1736356761.900 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:21.900Z,1736356761.900 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:21.900Z,1736356761.900 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:22.011Z,1736356762.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:22.021Z,1736356762.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:22.024Z,1736356762.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 531.974304 m,
      bearing: 269.413526 deg,
      approach rate: -0.605411 m/s,
      LOS rate: -0.002475 deg/s,
      cmd heading: 268.635684 deg,
      new cmd heading: 268.633178 deg.

2025-01-08T17:19:22.025Z,1736356762.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688533 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:22.154Z,1736356762.154 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:22.154Z,1736356762.154 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:22.155Z,1736356762.155 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:22.404Z,1736356762.404 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:22.404Z,1736356762.404 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:22.404Z,1736356762.404 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:22.438Z,1736356762.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:22.447Z,1736356762.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:22.450Z,1736356762.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 531.720093 m,
      bearing: 269.412078 deg,
      approach rate: -0.597217 m/s,
      LOS rate: -0.003403 deg/s,
      cmd heading: 268.633171 deg,
      new cmd heading: 268.628825 deg.

2025-01-08T17:19:22.451Z,1736356762.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688457 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:22.656Z,1736356762.656 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:22.656Z,1736356762.656 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:22.656Z,1736356762.656 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:22.825Z,1736356762.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:22.853Z,1736356762.853 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:22.855Z,1736356762.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:22.858Z,1736356762.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 531.490295 m,
      bearing: 269.410776 deg,
      approach rate: -0.563229 m/s,
      LOS rate: -0.003192 deg/s,
      cmd heading: 268.628827 deg,
      new cmd heading: 268.624920 deg.

2025-01-08T17:19:22.859Z,1736356762.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688389 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:22.909Z,1736356762.909 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:22.909Z,1736356762.909 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:22.909Z,1736356762.909 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:23.160Z,1736356763.160 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:23.160Z,1736356763.160 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:23.160Z,1736356763.160 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:23.246Z,1736356763.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:23.278Z,1736356763.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:23.285Z,1736356763.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 531.240173 m,
      bearing: 269.409362 deg,
      approach rate: -0.590652 m/s,
      LOS rate: -0.003341 deg/s,
      cmd heading: 268.624920 deg,
      new cmd heading: 268.620675 deg.

2025-01-08T17:19:23.286Z,1736356763.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688315 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:23.412Z,1736356763.412 [DAT](INFO): Reached modem response timeout
2025-01-08T17:19:23.412Z,1736356763.412 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:19:23.413Z,1736356763.413 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:19:23.664Z,1736356763.664 [DAT](INFO): Reached modem response timeout
2025-01-08T17:19:23.664Z,1736356763.664 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:19:23.665Z,1736356763.665 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:19:23.805Z,1736356763.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:23.814Z,1736356763.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:23.816Z,1736356763.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 530.904358 m,
      bearing: 269.407959 deg,
      approach rate: -0.627189 m/s,
      LOS rate: -0.002623 deg/s,
      cmd heading: 268.620685 deg,
      new cmd heading: 268.616472 deg.

2025-01-08T17:19:23.818Z,1736356763.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688242 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:23.917Z,1736356763.917 [DAT](INFO): Reached modem response timeout
2025-01-08T17:19:23.917Z,1736356763.917 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:19:23.918Z,1736356763.918 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:19:24.168Z,1736356764.168 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:19:24.169Z,1736356764.169 [DAT](INFO): response not received
2025-01-08T17:19:24.169Z,1736356764.169 [DAT](INFO): DAT read: user:53>

2025-01-08T17:19:24.170Z,1736356764.170 [DAT](INFO): DAT read: Tx time:17:19:23.4311

2025-01-08T17:19:24.170Z,1736356764.170 [DAT](INFO): Ping request sent.
2025-01-08T17:19:24.170Z,1736356764.170 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:19:24.170Z,1736356764.170 [DAT](INFO): publishing transmit ping time
2025-01-08T17:19:24.177Z,1736356764.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006902
2025-01-08T17:19:24.192Z,1736356764.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:24.214Z,1736356764.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:24.228Z,1736356764.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 530.672791 m,
      bearing: 269.407011 deg,
      approach rate: -0.577614 m/s,
      LOS rate: -0.002366 deg/s,
      cmd heading: 268.616478 deg,
      new cmd heading: 268.613632 deg.

2025-01-08T17:19:24.229Z,1736356764.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688192 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:24.423Z,1736356764.423 [DAT](INFO): DAT read: TxSync time:17:19:23.4303

2025-01-08T17:19:24.424Z,1736356764.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253706
2025-01-08T17:19:24.676Z,1736356764.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506064
2025-01-08T17:19:24.709Z,1736356764.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:24.743Z,1736356764.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:24.746Z,1736356764.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 530.357788 m,
      bearing: 269.406482 deg,
      approach rate: -0.619830 m/s,
      LOS rate: -0.001042 deg/s,
      cmd heading: 268.613636 deg,
      new cmd heading: 268.612047 deg.

2025-01-08T17:19:24.753Z,1736356764.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688165 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:24.929Z,1736356764.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758836
2025-01-08T17:19:25.181Z,1736356765.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010714
2025-01-08T17:19:25.186Z,1736356765.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:25.193Z,1736356765.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:25.195Z,1736356765.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:25.198Z,1736356765.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 530.066833 m,
      bearing: 269.406151 deg,
      approach rate: -0.616351 m/s,
      LOS rate: -0.000700 deg/s,
      cmd heading: 268.612052 deg,
      new cmd heading: 268.611060 deg.

2025-01-08T17:19:25.199Z,1736356765.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688148 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:25.433Z,1736356765.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262859
2025-01-08T17:19:25.685Z,1736356765.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514494
2025-01-08T17:19:25.706Z,1736356765.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:25.721Z,1736356765.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:25.725Z,1736356765.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 529.750916 m,
      bearing: 269.405668 deg,
      approach rate: -0.600948 m/s,
      LOS rate: -0.000920 deg/s,
      cmd heading: 268.611068 deg,
      new cmd heading: 268.609617 deg.

2025-01-08T17:19:25.728Z,1736356765.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688122 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:25.937Z,1736356765.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766862
2025-01-08T17:19:26.139Z,1736356766.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:26.172Z,1736356766.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:26.174Z,1736356766.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 529.487427 m,
      bearing: 269.405355 deg,
      approach rate: -0.616963 m/s,
      LOS rate: -0.000732 deg/s,
      cmd heading: 268.609620 deg,
      new cmd heading: 268.608683 deg.

2025-01-08T17:19:26.182Z,1736356766.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688106 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:26.189Z,1736356766.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018651
2025-01-08T17:19:26.440Z,1736356766.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270055
2025-01-08T17:19:26.562Z,1736356766.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:26.572Z,1736356766.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:26.574Z,1736356766.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 529.228149 m,
      bearing: 269.404894 deg,
      approach rate: -0.611519 m/s,
      LOS rate: -0.001089 deg/s,
      cmd heading: 268.608691 deg,
      new cmd heading: 268.607306 deg.

2025-01-08T17:19:26.596Z,1736356766.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688082 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:26.693Z,1736356766.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522883
2025-01-08T17:19:26.944Z,1736356766.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774173
2025-01-08T17:19:26.950Z,1736356766.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:26.959Z,1736356766.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:26.962Z,1736356766.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 528.990479 m,
      bearing: 269.404488 deg,
      approach rate: -0.613840 m/s,
      LOS rate: -0.001048 deg/s,
      cmd heading: 268.607298 deg,
      new cmd heading: 268.606080 deg.

2025-01-08T17:19:26.963Z,1736356766.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688060 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:27.197Z,1736356767.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026456
2025-01-08T17:19:27.355Z,1736356767.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:27.445Z,1736356767.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:27.447Z,1736356767.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:27.448Z,1736356767.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278151
2025-01-08T17:19:27.454Z,1736356767.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 528.741821 m,
      bearing: 269.404086 deg,
      approach rate: -0.509373 m/s,
      LOS rate: -0.000823 deg/s,
      cmd heading: 268.606068 deg,
      new cmd heading: 268.604863 deg.

2025-01-08T17:19:27.459Z,1736356767.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688039 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:27.701Z,1736356767.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530727
2025-01-08T17:19:27.799Z,1736356767.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:27.808Z,1736356767.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:27.823Z,1736356767.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 528.467712 m,
      bearing: 269.404148 deg,
      approach rate: -0.758053 m/s,
      LOS rate: 0.000170 deg/s,
      cmd heading: 268.604866 deg,
      new cmd heading: 268.605051 deg.

2025-01-08T17:19:27.824Z,1736356767.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688043 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:27.953Z,1736356767.953 [DAT](INFO): DAT read: Rx Time:17:19:26.5323

2025-01-08T17:19:27.953Z,1736356767.953 [DAT](INFO): Rx dataTimestamp_ set to:1736356767.953055
2025-01-08T17:19:27.954Z,1736356767.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783654
2025-01-08T17:19:28.159Z,1736356768.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:28.168Z,1736356768.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 539.80 m.
2025-01-08T17:19:28.171Z,1736356768.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 539.799988 m,
      nav range: 528.245361 m,
      bearing: 269.404228 deg,
      approach rate: -0.619587 m/s,
      LOS rate: 0.000222 deg/s,
      cmd heading: 268.605057 deg,
      new cmd heading: 268.605297 deg.

2025-01-08T17:19:28.172Z,1736356768.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688047 target range: 539.799988 and range: 539.80 m.
2025-01-08T17:19:28.212Z,1736356768.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.040812
2025-01-08T17:19:28.477Z,1736356768.477 [DAT](INFO): DAT read: 17:19:26.5323 LVL= 22352, 31729, 23026, 32755, AGC= 70, IDX= 365, 0.21,-1.307,-2.794,-1.440,-1.804, PHS= 0.586,-0.943, 0.361, RAW= 142.2,  -0.1, CAL= 146.5,  -9.0, ROT=   3.5,   9.0

2025-01-08T17:19:28.478Z,1736356768.478 [DAT](INFO): got valid direction response:
 17:19:26.5323 LVL= 22352, 31729, 23026, 32755, AGC= 70, IDX= 365, 0.21,-1.307,-2.794,-1.440,-1.804, PHS= 0.586,-0.943, 0.361, RAW= 142.2,  -0.1, CAL= 146.5,  -9.0, ROT=   3.5,   9.0

2025-01-08T17:19:28.479Z,1736356768.479 [DAT](INFO): DAT read: Bearing   3.5,   9.0 (Local)

2025-01-08T17:19:28.480Z,1736356768.480 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.5,   9.0 (Local)

2025-01-08T17:19:28.481Z,1736356768.481 [DAT](INFO): DAT read: Range 10 to 50 : 522.7 m  (Round-trip  697.0 ms) speed  0.4 m/s

2025-01-08T17:19:28.482Z,1736356768.482 [DAT](INFO): DAT read: user:54>

2025-01-08T17:19:28.483Z,1736356768.483 [DAT](INFO): DAT read: Tx time:17:19:27.6311

2025-01-08T17:19:28.483Z,1736356768.483 [DAT](INFO): Ping request sent.
2025-01-08T17:19:28.484Z,1736356768.484 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:19:28.484Z,1736356768.484 [DAT](INFO): DAT read: TxSync time:17:19:27.6303

2025-01-08T17:19:28.485Z,1736356768.485 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:19:28.486Z,1736356768.486 [DAT](INFO): direction in FSK: [0.985846,0.060297,-0.156434]
2025-01-08T17:19:28.487Z,1736356768.487 [DAT](INFO): publishing transmit ping time
2025-01-08T17:19:28.487Z,1736356768.487 [DAT](INFO): publishing direction and range info
2025-01-08T17:19:28.490Z,1736356768.490 [DAT](INFO): publishing transmit ping time
2025-01-08T17:19:28.490Z,1736356768.490 [DAT](INFO): publishing direction and range info
2025-01-08T17:19:28.651Z,1736356768.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:28.688Z,1736356768.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 522.700012 m,
      deltaT: 15.131703 s,
      deltaX: -17.099976 m,
      approachRate: -1.130076 m/s,
      rangeRepo size: 4

2025-01-08T17:19:28.690Z,1736356768.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 522.700012 m,
      bearing: 273.413894 deg,
      lat: 36.904007 deg,
      lon: -122.119298 deg,
      deltaT: 15.131703 s,
      deltaX: -17.099976 m,
      approachRate: -1.130076 m/s,
      posRepo size: 4

2025-01-08T17:19:28.691Z,1736356768.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:28.703Z,1736356768.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 527.566101 m,
      bearing: 269.413363 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000222 deg/s,
      cmd heading: 268.605303 deg,
      new cmd heading: 268.605642 deg.

2025-01-08T17:19:28.705Z,1736356768.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688053 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:29.009Z,1736356769.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:29.017Z,1736356769.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:29.021Z,1736356769.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 527.341553 m,
      bearing: 269.413248 deg,
      approach rate: -0.656405 m/s,
      LOS rate: -0.000334 deg/s,
      cmd heading: 268.605631 deg,
      new cmd heading: 268.605288 deg.

2025-01-08T17:19:29.022Z,1736356769.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688046 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:29.480Z,1736356769.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:29.487Z,1736356769.487 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:29.489Z,1736356769.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:29.492Z,1736356769.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 527.046936 m,
      bearing: 269.413158 deg,
      approach rate: -0.623519 m/s,
      LOS rate: -0.000193 deg/s,
      cmd heading: 268.605276 deg,
      new cmd heading: 268.605003 deg.

2025-01-08T17:19:29.493Z,1736356769.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688042 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:29.724Z,1736356769.724 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:29.725Z,1736356769.725 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:29.725Z,1736356769.725 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:19:29.833Z,1736356769.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:29.842Z,1736356769.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:29.845Z,1736356769.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 526.827393 m,
      bearing: 269.413283 deg,
      approach rate: -0.622870 m/s,
      LOS rate: 0.000355 deg/s,
      cmd heading: 268.605003 deg,
      new cmd heading: 268.605378 deg.

2025-01-08T17:19:29.846Z,1736356769.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688048 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:29.977Z,1736356769.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493225
2025-01-08T17:19:30.228Z,1736356770.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744756
2025-01-08T17:19:30.233Z,1736356770.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:30.271Z,1736356770.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:30.278Z,1736356770.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 526.578064 m,
      bearing: 269.413429 deg,
      approach rate: -0.581462 m/s,
      LOS rate: 0.000341 deg/s,
      cmd heading: 268.605385 deg,
      new cmd heading: 268.605824 deg.

2025-01-08T17:19:30.279Z,1736356770.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688056 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:30.480Z,1736356770.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996765
2025-01-08T17:19:30.682Z,1736356770.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:30.693Z,1736356770.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:30.698Z,1736356770.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 526.297119 m,
      bearing: 269.413722 deg,
      approach rate: -0.665915 m/s,
      LOS rate: 0.000695 deg/s,
      cmd heading: 268.605822 deg,
      new cmd heading: 268.606702 deg.

2025-01-08T17:19:30.700Z,1736356770.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688071 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:30.732Z,1736356770.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248874
2025-01-08T17:19:30.985Z,1736356770.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501456
2025-01-08T17:19:31.036Z,1736356771.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:31.045Z,1736356771.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:31.048Z,1736356771.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 526.075439 m,
      bearing: 269.413955 deg,
      approach rate: -0.629237 m/s,
      LOS rate: 0.000661 deg/s,
      cmd heading: 268.606697 deg,
      new cmd heading: 268.607396 deg.

2025-01-08T17:19:31.049Z,1736356771.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688084 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:31.240Z,1736356771.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756774
2025-01-08T17:19:31.428Z,1736356771.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:31.496Z,1736356771.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011306
2025-01-08T17:19:31.504Z,1736356771.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:31.507Z,1736356771.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 525.830383 m,
      bearing: 269.414211 deg,
      approach rate: -0.533394 m/s,
      LOS rate: 0.000559 deg/s,
      cmd heading: 268.607407 deg,
      new cmd heading: 268.608177 deg.

2025-01-08T17:19:31.512Z,1736356771.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688097 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:31.744Z,1736356771.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260799
2025-01-08T17:19:31.875Z,1736356771.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:31.881Z,1736356771.881 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:31.884Z,1736356771.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:31.888Z,1736356771.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 525.550110 m,
      bearing: 269.414469 deg,
      approach rate: -0.739254 m/s,
      LOS rate: 0.000681 deg/s,
      cmd heading: 268.608172 deg,
      new cmd heading: 268.608947 deg.

2025-01-08T17:19:31.889Z,1736356771.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688110 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:31.998Z,1736356771.998 [DAT](INFO): DAT read: Rx Time:17:19:30.7199

2025-01-08T17:19:31.998Z,1736356771.998 [DAT](INFO): Rx dataTimestamp_ set to:1736356771.998087
2025-01-08T17:19:31.999Z,1736356771.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515343
2025-01-08T17:19:32.231Z,1736356772.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:32.242Z,1736356772.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:32.245Z,1736356772.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 525.326538 m,
      bearing: 269.414703 deg,
      approach rate: -0.624398 m/s,
      LOS rate: 0.000653 deg/s,
      cmd heading: 268.608937 deg,
      new cmd heading: 268.609638 deg.

2025-01-08T17:19:32.246Z,1736356772.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688123 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:32.249Z,1736356772.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764966
2025-01-08T17:19:32.504Z,1736356772.504 [DAT](INFO): DAT read: $Error in header

2025-01-08T17:19:32.504Z,1736356772.504 [DAT](INFO): Received a bad header
2025-01-08T17:19:32.516Z,1736356772.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031950
2025-01-08T17:19:32.660Z,1736356772.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:32.669Z,1736356772.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:32.672Z,1736356772.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 525.057556 m,
      bearing: 269.415514 deg,
      approach rate: -0.629327 m/s,
      LOS rate: 0.001899 deg/s,
      cmd heading: 268.609647 deg,
      new cmd heading: 268.612083 deg.

2025-01-08T17:19:32.673Z,1736356772.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688165 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:32.753Z,1736356772.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.269381
2025-01-08T17:19:33.004Z,1736356773.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.520742
2025-01-08T17:19:33.038Z,1736356773.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:33.046Z,1736356773.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:33.049Z,1736356773.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 524.820435 m,
      bearing: 269.416255 deg,
      approach rate: -0.628408 m/s,
      LOS rate: 0.001965 deg/s,
      cmd heading: 268.612079 deg,
      new cmd heading: 268.614303 deg.

2025-01-08T17:19:33.050Z,1736356773.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688204 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:33.256Z,1736356773.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.772876
2025-01-08T17:19:33.464Z,1736356773.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:33.513Z,1736356773.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.028543
2025-01-08T17:19:33.526Z,1736356773.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:33.541Z,1736356773.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 524.553711 m,
      bearing: 269.417112 deg,
      approach rate: -0.557755 m/s,
      LOS rate: 0.001793 deg/s,
      cmd heading: 268.614292 deg,
      new cmd heading: 268.616864 deg.

2025-01-08T17:19:33.542Z,1736356773.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688249 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:33.762Z,1736356773.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.278272
2025-01-08T17:19:33.875Z,1736356773.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:33.898Z,1736356773.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:33.902Z,1736356773.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:33.909Z,1736356773.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 524.307312 m,
      bearing: 269.417988 deg,
      approach rate: -0.654823 m/s,
      LOS rate: 0.002328 deg/s,
      cmd heading: 268.616860 deg,
      new cmd heading: 268.619488 deg.

2025-01-08T17:19:33.910Z,1736356773.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688294 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:34.013Z,1736356774.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.529197
2025-01-08T17:19:34.264Z,1736356774.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.780640
2025-01-08T17:19:34.289Z,1736356774.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:34.306Z,1736356774.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:34.339Z,1736356774.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 524.054810 m,
      bearing: 269.418908 deg,
      approach rate: -0.623868 m/s,
      LOS rate: 0.002275 deg/s,
      cmd heading: 268.619483 deg,
      new cmd heading: 268.622245 deg.

2025-01-08T17:19:34.340Z,1736356774.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688343 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:34.521Z,1736356774.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.036517
2025-01-08T17:19:34.677Z,1736356774.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:34.686Z,1736356774.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:34.689Z,1736356774.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 523.829102 m,
      bearing: 269.420191 deg,
      approach rate: -0.593286 m/s,
      LOS rate: 0.003375 deg/s,
      cmd heading: 268.622242 deg,
      new cmd heading: 268.626094 deg.

2025-01-08T17:19:34.690Z,1736356774.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688410 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:34.769Z,1736356774.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.285824
2025-01-08T17:19:35.020Z,1736356775.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.536635
2025-01-08T17:19:35.060Z,1736356775.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:35.069Z,1736356775.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:35.096Z,1736356775.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 523.606079 m,
      bearing: 269.421455 deg,
      approach rate: -0.582379 m/s,
      LOS rate: 0.003300 deg/s,
      cmd heading: 268.626094 deg,
      new cmd heading: 268.629886 deg.

2025-01-08T17:19:35.097Z,1736356775.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688476 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:35.273Z,1736356775.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.788921
2025-01-08T17:19:35.471Z,1736356775.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:35.485Z,1736356775.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:35.488Z,1736356775.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 523.366760 m,
      bearing: 269.422800 deg,
      approach rate: -0.575474 m/s,
      LOS rate: 0.003236 deg/s,
      cmd heading: 268.629892 deg,
      new cmd heading: 268.633929 deg.

2025-01-08T17:19:35.489Z,1736356775.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688547 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:35.528Z,1736356775.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.044033
2025-01-08T17:19:35.777Z,1736356775.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.293346
2025-01-08T17:19:35.910Z,1736356775.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:35.917Z,1736356775.917 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:35.920Z,1736356775.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:35.923Z,1736356775.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 523.121582 m,
      bearing: 269.423835 deg,
      approach rate: -0.563324 m/s,
      LOS rate: 0.002379 deg/s,
      cmd heading: 268.633936 deg,
      new cmd heading: 268.637042 deg.

2025-01-08T17:19:35.924Z,1736356775.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688601 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:36.029Z,1736356776.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.545399
2025-01-08T17:19:36.273Z,1736356776.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:36.280Z,1736356776.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.796753
2025-01-08T17:19:36.282Z,1736356776.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:36.310Z,1736356776.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 522.919067 m,
      bearing: 269.424639 deg,
      approach rate: -0.558758 m/s,
      LOS rate: 0.002219 deg/s,
      cmd heading: 268.637050 deg,
      new cmd heading: 268.639463 deg.

2025-01-08T17:19:36.311Z,1736356776.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688643 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:36.536Z,1736356776.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.051423
2025-01-08T17:19:36.704Z,1736356776.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:36.737Z,1736356776.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:36.744Z,1736356776.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 522.690125 m,
      bearing: 269.425340 deg,
      approach rate: -0.503505 m/s,
      LOS rate: 0.001544 deg/s,
      cmd heading: 268.639454 deg,
      new cmd heading: 268.641560 deg.

2025-01-08T17:19:36.745Z,1736356776.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688680 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:36.788Z,1736356776.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.304020
2025-01-08T17:19:37.040Z,1736356777.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.556665
2025-01-08T17:19:37.080Z,1736356777.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:37.090Z,1736356777.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:37.093Z,1736356777.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 522.489380 m,
      bearing: 269.425909 deg,
      approach rate: -0.569088 m/s,
      LOS rate: 0.001612 deg/s,
      cmd heading: 268.641558 deg,
      new cmd heading: 268.643264 deg.

2025-01-08T17:19:37.094Z,1736356777.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688709 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:37.293Z,1736356777.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.809282
2025-01-08T17:19:37.550Z,1736356777.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.065658
2025-01-08T17:19:37.598Z,1736356777.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:37.615Z,1736356777.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:37.622Z,1736356777.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 522.214050 m,
      bearing: 269.426689 deg,
      approach rate: -0.524741 m/s,
      LOS rate: 0.001489 deg/s,
      cmd heading: 268.643252 deg,
      new cmd heading: 268.645595 deg.

2025-01-08T17:19:37.627Z,1736356777.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688750 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:37.796Z,1736356777.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.312630
2025-01-08T17:19:38.048Z,1736356778.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.564749
2025-01-08T17:19:38.078Z,1736356778.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:38.086Z,1736356778.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:38.088Z,1736356778.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:38.091Z,1736356778.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 521.959229 m,
      bearing: 269.427478 deg,
      approach rate: -0.538369 m/s,
      LOS rate: 0.001666 deg/s,
      cmd heading: 268.645601 deg,
      new cmd heading: 268.647967 deg.

2025-01-08T17:19:38.092Z,1736356778.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688792 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:38.302Z,1736356778.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.818466
2025-01-08T17:19:38.478Z,1736356778.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:38.489Z,1736356778.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:38.494Z,1736356778.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 521.746399 m,
      bearing: 269.428102 deg,
      approach rate: -0.531703 m/s,
      LOS rate: 0.001560 deg/s,
      cmd heading: 268.647978 deg,
      new cmd heading: 268.649851 deg.

2025-01-08T17:19:38.499Z,1736356778.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688825 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:38.555Z,1736356778.555 [DAT](INFO): Reached modem response timeout
2025-01-08T17:19:38.557Z,1736356778.557 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:19:38.558Z,1736356778.558 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:19:38.804Z,1736356778.804 [DAT](INFO): Reached modem response timeout
2025-01-08T17:19:38.804Z,1736356778.804 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:19:38.804Z,1736356778.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:19:38.904Z,1736356778.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:38.913Z,1736356778.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:38.916Z,1736356778.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 521.514954 m,
      bearing: 269.428027 deg,
      approach rate: -0.544790 m/s,
      LOS rate: -0.000175 deg/s,
      cmd heading: 268.649864 deg,
      new cmd heading: 268.649641 deg.

2025-01-08T17:19:38.917Z,1736356778.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688821 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:39.057Z,1736356779.057 [DAT](INFO): Reached modem response timeout
2025-01-08T17:19:39.058Z,1736356779.058 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:19:39.058Z,1736356779.058 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:19:39.296Z,1736356779.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:39.305Z,1736356779.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:39.309Z,1736356779.309 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:19:39.309Z,1736356779.309 [DAT](INFO): response not received
2025-01-08T17:19:39.309Z,1736356779.309 [DAT](INFO): DAT read: user:56>

2025-01-08T17:19:39.310Z,1736356779.310 [DAT](INFO): DAT read: Tx time:17:19:38.5812

2025-01-08T17:19:39.310Z,1736356779.310 [DAT](INFO): Ping request sent.
2025-01-08T17:19:39.310Z,1736356779.310 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:19:39.310Z,1736356779.310 [DAT](INFO): publishing transmit ping time
2025-01-08T17:19:39.311Z,1736356779.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755
2025-01-08T17:19:39.313Z,1736356779.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 521.302185 m,
      bearing: 269.427938 deg,
      approach rate: -0.542261 m/s,
      LOS rate: -0.000228 deg/s,
      cmd heading: 268.649645 deg,
      new cmd heading: 268.649377 deg.

2025-01-08T17:19:39.314Z,1736356779.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688816 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:39.570Z,1736356779.570 [DAT](INFO): DAT read: TxSync time:17:19:38.5804

2025-01-08T17:19:39.574Z,1736356779.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.263029
2025-01-08T17:19:39.723Z,1736356779.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:39.735Z,1736356779.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:39.738Z,1736356779.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 521.057251 m,
      bearing: 269.427814 deg,
      approach rate: -0.571305 m/s,
      LOS rate: -0.000289 deg/s,
      cmd heading: 268.649372 deg,
      new cmd heading: 268.649000 deg.

2025-01-08T17:19:39.739Z,1736356779.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688809 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:39.813Z,1736356779.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503142
2025-01-08T17:19:40.064Z,1736356780.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753878
2025-01-08T17:19:40.097Z,1736356780.097 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:40.105Z,1736356780.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:40.107Z,1736356780.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:40.110Z,1736356780.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 520.841736 m,
      bearing: 269.427806 deg,
      approach rate: -0.577666 m/s,
      LOS rate: -0.000023 deg/s,
      cmd heading: 268.648989 deg,
      new cmd heading: 268.648964 deg.

2025-01-08T17:19:40.111Z,1736356780.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688809 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:40.316Z,1736356780.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006031
2025-01-08T17:19:40.512Z,1736356780.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:40.524Z,1736356780.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:40.528Z,1736356780.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 520.603271 m,
      bearing: 269.427795 deg,
      approach rate: -0.574704 m/s,
      LOS rate: -0.000025 deg/s,
      cmd heading: 268.648962 deg,
      new cmd heading: 268.648931 deg.

2025-01-08T17:19:40.529Z,1736356780.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688808 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:40.571Z,1736356780.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260472
2025-01-08T17:19:40.820Z,1736356780.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510177
2025-01-08T17:19:40.938Z,1736356780.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:40.947Z,1736356780.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:40.950Z,1736356780.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 520.337708 m,
      bearing: 269.427847 deg,
      approach rate: -0.625533 m/s,
      LOS rate: 0.000123 deg/s,
      cmd heading: 268.648935 deg,
      new cmd heading: 268.649091 deg.

2025-01-08T17:19:40.952Z,1736356780.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688811 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:41.072Z,1736356781.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762044
2025-01-08T17:19:41.324Z,1736356781.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014156
2025-01-08T17:19:41.328Z,1736356781.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:41.337Z,1736356781.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:41.360Z,1736356781.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 520.097534 m,
      bearing: 269.427831 deg,
      approach rate: -0.615245 m/s,
      LOS rate: -0.000042 deg/s,
      cmd heading: 268.649099 deg,
      new cmd heading: 268.649050 deg.

2025-01-08T17:19:41.361Z,1736356781.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688810 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:41.576Z,1736356781.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265998
2025-01-08T17:19:41.746Z,1736356781.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:41.755Z,1736356781.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:41.758Z,1736356781.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 519.806641 m,
      bearing: 269.428025 deg,
      approach rate: -0.695784 m/s,
      LOS rate: 0.000465 deg/s,
      cmd heading: 268.649044 deg,
      new cmd heading: 268.649627 deg.

2025-01-08T17:19:41.775Z,1736356781.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688820 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:41.830Z,1736356781.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519196
2025-01-08T17:19:42.080Z,1736356782.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770013
2025-01-08T17:19:42.131Z,1736356782.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:42.138Z,1736356782.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:42.141Z,1736356782.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:42.144Z,1736356782.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 519.552246 m,
      bearing: 269.428207 deg,
      approach rate: -0.659677 m/s,
      LOS rate: 0.000471 deg/s,
      cmd heading: 268.649618 deg,
      new cmd heading: 268.650163 deg.

2025-01-08T17:19:42.145Z,1736356782.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688830 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:42.336Z,1736356782.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025595
2025-01-08T17:19:42.526Z,1736356782.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:42.535Z,1736356782.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:42.538Z,1736356782.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 519.269104 m,
      bearing: 269.428452 deg,
      approach rate: -0.718713 m/s,
      LOS rate: 0.000622 deg/s,
      cmd heading: 268.650164 deg,
      new cmd heading: 268.650899 deg.

2025-01-08T17:19:42.539Z,1736356782.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688843 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:42.590Z,1736356782.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279313
2025-01-08T17:19:42.837Z,1736356782.837 [DAT](INFO): DAT read: Rx Time:17:19:41.6705

2025-01-08T17:19:42.837Z,1736356782.837 [DAT](INFO): Rx dataTimestamp_ set to:1736356782.836928
2025-01-08T17:19:42.838Z,1736356782.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527485
2025-01-08T17:19:42.966Z,1736356782.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:42.976Z,1736356782.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:42.978Z,1736356782.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 518.948608 m,
      bearing: 269.429091 deg,
      approach rate: -0.727364 m/s,
      LOS rate: 0.001451 deg/s,
      cmd heading: 268.650902 deg,
      new cmd heading: 268.652820 deg.

2025-01-08T17:19:42.979Z,1736356782.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688876 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:42.981Z,1736356782.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 57.909554 m.
2025-01-08T17:19:43.088Z,1736356783.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777914
2025-01-08T17:19:43.340Z,1736356783.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030048
2025-01-08T17:19:43.437Z,1736356783.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:43.445Z,1736356783.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.70 m.
2025-01-08T17:19:43.448Z,1736356783.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 522.700012 m,
      nav range: 518.605225 m,
      bearing: 269.429776 deg,
      approach rate: -0.730507 m/s,
      LOS rate: 0.001459 deg/s,
      cmd heading: 268.652814 deg,
      new cmd heading: 268.654872 deg.

2025-01-08T17:19:43.449Z,1736356783.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688912 target range: 522.700012 and range: 522.70 m.
2025-01-08T17:19:43.604Z,1736356783.604 [DAT](INFO): DAT read: 17:19:41.6706 LVL= 24304, 28737, 23410, 32755, AGC= 68, IDX= 471, 0.25,-0.741,-2.121,-0.879,-1.265, PHS= 0.611,-0.810, 0.383, RAW= 141.4,  -2.8, CAL= 146.4, -12.1, ROT=   3.6,  12.1

2025-01-08T17:19:43.605Z,1736356783.605 [DAT](INFO): got valid direction response:
 17:19:41.6706 LVL= 24304, 28737, 23410, 32755, AGC= 68, IDX= 471, 0.25,-0.741,-2.121,-0.879,-1.265, PHS= 0.611,-0.810, 0.383, RAW= 141.4,  -2.8, CAL= 146.4, -12.1, ROT=   3.6,  12.1

2025-01-08T17:19:43.607Z,1736356783.607 [DAT](INFO): DAT read: Range 10 to 50 : 513.8 m  (Round-trip  685.1 ms) speed  0.8 m/s

2025-01-08T17:19:43.608Z,1736356783.608 [DAT](INFO): DAT read: user:57>

2025-01-08T17:19:43.609Z,1736356783.609 [DAT](INFO): DAT read: Tx time:17:19:42.7813

2025-01-08T17:19:43.609Z,1736356783.609 [DAT](INFO): Ping request sent.
2025-01-08T17:19:43.609Z,1736356783.609 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:19:43.610Z,1736356783.610 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:19:43.611Z,1736356783.611 [DAT](INFO): direction in FSK: [0.975854,0.061396,-0.209619]
2025-01-08T17:19:43.611Z,1736356783.611 [DAT](INFO): publishing transmit ping time
2025-01-08T17:19:43.616Z,1736356783.616 [DAT](INFO): publishing direction and range info
2025-01-08T17:19:43.705Z,1736356783.705 [DAT](INFO): publishing transmit ping time
2025-01-08T17:19:43.705Z,1736356783.705 [DAT](INFO): publishing direction and range info
2025-01-08T17:19:43.844Z,1736356783.844 [DAT](INFO): DAT read: TxSync time:17:19:42.7805

2025-01-08T17:19:43.859Z,1736356783.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:43.889Z,1736356783.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 513.799988 m,
      deltaT: 15.128063 s,
      deltaX: -8.900024 m,
      approachRate: -0.588312 m/s,
      rangeRepo size: 4

2025-01-08T17:19:43.891Z,1736356783.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 513.799988 m,
      bearing: 273.320244 deg,
      lat: 36.904319 deg,
      lon: -122.119207 deg,
      deltaT: 15.128063 s,
      deltaX: -8.900024 m,
      approachRate: -0.588312 m/s,
      posRepo size: 4

2025-01-08T17:19:43.900Z,1736356783.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.80 m.
2025-01-08T17:19:43.905Z,1736356783.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.799988 m,
      nav range: 511.061859 m,
      bearing: 273.318382 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001459 deg/s,
      cmd heading: 268.654863 deg,
      new cmd heading: 268.656801 deg.

2025-01-08T17:19:43.906Z,1736356783.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688946 target range: 513.799988 and range: 513.80 m.
2025-01-08T17:19:44.312Z,1736356784.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:44.320Z,1736356784.320 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:44.322Z,1736356784.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.80 m.
2025-01-08T17:19:44.325Z,1736356784.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.799988 m,
      nav range: 510.724487 m,
      bearing: 273.322548 deg,
      approach rate: -0.776910 m/s,
      LOS rate: 0.009600 deg/s,
      cmd heading: 268.656803 deg,
      new cmd heading: 268.669309 deg.

2025-01-08T17:19:44.326Z,1736356784.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689164 target range: 513.799988 and range: 513.80 m.
2025-01-08T17:19:44.348Z,1736356784.348 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:44.348Z,1736356784.348 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:44.349Z,1736356784.349 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:19:44.602Z,1736356784.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993121
2025-01-08T17:19:44.766Z,1736356784.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:44.777Z,1736356784.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.80 m.
2025-01-08T17:19:44.780Z,1736356784.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.799988 m,
      nav range: 510.391479 m,
      bearing: 273.325875 deg,
      approach rate: -0.732844 m/s,
      LOS rate: 0.007326 deg/s,
      cmd heading: 268.669316 deg,
      new cmd heading: 268.679303 deg.

2025-01-08T17:19:44.781Z,1736356784.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689339 target range: 513.799988 and range: 513.80 m.
2025-01-08T17:19:44.853Z,1736356784.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243364
2025-01-08T17:19:45.104Z,1736356785.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494982
2025-01-08T17:19:45.118Z,1736356785.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:45.140Z,1736356785.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.80 m.
2025-01-08T17:19:45.152Z,1736356785.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.799988 m,
      nav range: 510.134766 m,
      bearing: 273.328453 deg,
      approach rate: -0.705946 m/s,
      LOS rate: 0.007093 deg/s,
      cmd heading: 268.679315 deg,
      new cmd heading: 268.687053 deg.

2025-01-08T17:19:45.153Z,1736356785.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689474 target range: 513.799988 and range: 513.80 m.
2025-01-08T17:19:45.357Z,1736356785.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747340
2025-01-08T17:19:45.523Z,1736356785.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:45.532Z,1736356785.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.80 m.
2025-01-08T17:19:45.534Z,1736356785.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.799988 m,
      nav range: 509.837585 m,
      bearing: 273.331404 deg,
      approach rate: -0.760308 m/s,
      LOS rate: 0.007554 deg/s,
      cmd heading: 268.687047 deg,
      new cmd heading: 268.695905 deg.

2025-01-08T17:19:45.535Z,1736356785.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689628 target range: 513.799988 and range: 513.80 m.
2025-01-08T17:19:45.610Z,1736356785.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000656
2025-01-08T17:19:45.861Z,1736356785.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251225
2025-01-08T17:19:46.003Z,1736356786.003 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 120.40, 122.44, 135.3-2768,-32768,-32768,V
2025-01-08T17:19:46.010Z,1736356786.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-08T17:19:46.011Z,1736356786.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:46.020Z,1736356786.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.80 m.
2025-01-08T17:19:46.043Z,1736356786.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.799988 m,
      nav range: 509.481171 m,
      bearing: 273.334918 deg,
      approach rate: -0.728677 m/s,
      LOS rate: 0.007190 deg/s,
      cmd heading: 268.695899 deg,
      new cmd heading: 268.706449 deg.

2025-01-08T17:19:46.044Z,1736356786.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689812 target range: 513.799988 and range: 513.80 m.
2025-01-08T17:19:46.113Z,1736356786.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504079
2025-01-08T17:19:46.364Z,1736356786.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755053
2025-01-08T17:19:46.382Z,1736356786.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-08T17:19:46.382Z,1736356786.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:46.406Z,1736356786.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:46.413Z,1736356786.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.80 m.
2025-01-08T17:19:46.420Z,1736356786.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.799988 m,
      nav range: 509.209381 m,
      bearing: 273.337589 deg,
      approach rate: -0.692962 m/s,
      LOS rate: 0.006813 deg/s,
      cmd heading: 268.706445 deg,
      new cmd heading: 268.714461 deg.

2025-01-08T17:19:46.421Z,1736356786.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689952 target range: 513.799988 and range: 513.80 m.
2025-01-08T17:19:46.616Z,1736356786.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006975
2025-01-08T17:19:46.690Z,1736356786.690 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:19:46.869Z,1736356786.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259428
2025-01-08T17:19:46.965Z,1736356786.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:46.990Z,1736356786.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.80 m.
2025-01-08T17:19:46.997Z,1736356786.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.799988 m,
      nav range: 508.843933 m,
      bearing: 273.341610 deg,
      approach rate: -0.633189 m/s,
      LOS rate: 0.006973 deg/s,
      cmd heading: 268.714450 deg,
      new cmd heading: 268.726523 deg.

2025-01-08T17:19:46.998Z,1736356786.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690163 target range: 513.799988 and range: 513.80 m.
2025-01-08T17:19:47.121Z,1736356787.121 [DAT](INFO): DAT read: Rx Time:17:19:45.8578

2025-01-08T17:19:47.121Z,1736356787.121 [DAT](INFO): Rx dataTimestamp_ set to:1736356787.121188
2025-01-08T17:19:47.122Z,1736356787.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512748
2025-01-08T17:19:47.316Z,1736356787.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:47.342Z,1736356787.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.80 m.
2025-01-08T17:19:47.349Z,1736356787.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 513.799988 m,
      nav range: 508.623688 m,
      bearing: 273.343948 deg,
      approach rate: -0.625510 m/s,
      LOS rate: 0.006643 deg/s,
      cmd heading: 268.726526 deg,
      new cmd heading: 268.733542 deg.

2025-01-08T17:19:47.350Z,1736356787.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690285 target range: 513.799988 and range: 513.80 m.
2025-01-08T17:19:47.374Z,1736356787.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764293
2025-01-08T17:19:47.630Z,1736356787.630 [DAT](INFO): DAT read: 17:19:45.8579 LVL= 25440, 32753, 21810, 32755, AGC= 73, IDX= 303, 0.01,-1.641, 3.106,-1.835,-2.386, PHS= 0.833,-0.744, 0.549, RAW= 140.3,  -8.8, CAL= 146.8, -18.7, ROT=   3.2,  18.7

2025-01-08T17:19:47.631Z,1736356787.631 [DAT](INFO): got valid direction response:
 17:19:45.8579 LVL= 25440, 32753, 21810, 32755, AGC= 73, IDX= 303, 0.01,-1.641, 3.106,-1.835,-2.386, PHS= 0.833,-0.744, 0.549, RAW= 140.3,  -8.8, CAL= 146.8, -18.7, ROT=   3.2,  18.7

2025-01-08T17:19:47.632Z,1736356787.632 [DAT](INFO): DAT read: Bearing   3.2,  18.7 (Local)

2025-01-08T17:19:47.633Z,1736356787.633 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.2,  18.7 (Local)

2025-01-08T17:19:47.634Z,1736356787.634 [DAT](INFO): DAT read: Range 10 to 50 : 504.3 m  (Round-trip  672.4 ms) speed  0.3 m/s

2025-01-08T17:19:47.635Z,1736356787.635 [DAT](INFO): DAT read: user:58>

2025-01-08T17:19:47.636Z,1736356787.636 [DAT](INFO): DAT read: Tx time:17:19:46.9813

2025-01-08T17:19:47.637Z,1736356787.637 [DAT](INFO): Ping request sent.
2025-01-08T17:19:47.637Z,1736356787.637 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:19:47.638Z,1736356787.638 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:19:47.641Z,1736356787.641 [DAT](INFO): direction in FSK: [0.945733,0.052875,-0.320613]
2025-01-08T17:19:47.641Z,1736356787.641 [DAT](INFO): publishing transmit ping time
2025-01-08T17:19:47.642Z,1736356787.642 [DAT](INFO): publishing direction and range info
2025-01-08T17:19:47.646Z,1736356787.646 [DAT](INFO): publishing transmit ping time
2025-01-08T17:19:47.646Z,1736356787.646 [DAT](INFO): publishing direction and range info
2025-01-08T17:19:47.694Z,1736356787.694 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:19:47.874Z,1736356787.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:47.876Z,1736356787.876 [DAT](INFO): DAT read: TxSync time:17:19:46.9805

2025-01-08T17:19:47.912Z,1736356787.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 504.299988 m,
      deltaT: 4.032056 s,
      deltaX: -9.500000 m,
      approachRate: -2.356118 m/s,
      rangeRepo size: 4

2025-01-08T17:19:47.914Z,1736356787.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 504.299988 m,
      bearing: 274.133760 deg,
      lat: 36.904333 deg,
      lon: -122.119201 deg,
      deltaT: 4.032056 s,
      deltaX: -9.500000 m,
      approachRate: -2.356118 m/s,
      posRepo size: 4

2025-01-08T17:19:47.919Z,1736356787.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:47.922Z,1736356787.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 507.849121 m,
      bearing: 273.516362 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006643 deg/s,
      cmd heading: 268.733547 deg,
      new cmd heading: 268.744657 deg.

2025-01-08T17:19:47.935Z,1736356787.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690479 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:48.212Z,1736356788.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:48.222Z,1736356788.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:48.224Z,1736356788.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 507.661133 m,
      bearing: 273.518374 deg,
      approach rate: -0.583470 m/s,
      LOS rate: 0.006248 deg/s,
      cmd heading: 268.744667 deg,
      new cmd heading: 268.750706 deg.

2025-01-08T17:19:48.225Z,1736356788.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690585 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:48.617Z,1736356788.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:48.645Z,1736356788.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:48.647Z,1736356788.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:48.664Z,1736356788.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 507.435791 m,
      bearing: 273.520712 deg,
      approach rate: -0.529891 m/s,
      LOS rate: 0.005500 deg/s,
      cmd heading: 268.750704 deg,
      new cmd heading: 268.757721 deg.

2025-01-08T17:19:48.665Z,1736356788.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690707 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:48.888Z,1736356788.888 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:48.888Z,1736356788.888 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:48.888Z,1736356788.888 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:19:49.041Z,1736356789.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:49.049Z,1736356789.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:49.053Z,1736356789.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 507.222900 m,
      bearing: 273.522538 deg,
      approach rate: -0.529281 m/s,
      LOS rate: 0.004541 deg/s,
      cmd heading: 268.757726 deg,
      new cmd heading: 268.763206 deg.

2025-01-08T17:19:49.054Z,1736356789.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690803 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:49.142Z,1736356789.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505455
2025-01-08T17:19:49.401Z,1736356789.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764577
2025-01-08T17:19:49.422Z,1736356789.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:49.450Z,1736356789.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:49.458Z,1736356789.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 507.031250 m,
      bearing: 273.524101 deg,
      approach rate: -0.477841 m/s,
      LOS rate: 0.003900 deg/s,
      cmd heading: 268.763217 deg,
      new cmd heading: 268.767910 deg.

2025-01-08T17:19:49.459Z,1736356789.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690885 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:49.653Z,1736356789.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016434
2025-01-08T17:19:49.904Z,1736356789.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267660
2025-01-08T17:19:49.905Z,1736356789.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:49.914Z,1736356789.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:49.917Z,1736356789.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 506.803680 m,
      bearing: 273.525238 deg,
      approach rate: -0.490694 m/s,
      LOS rate: 0.002452 deg/s,
      cmd heading: 268.767917 deg,
      new cmd heading: 268.771328 deg.

2025-01-08T17:19:49.920Z,1736356789.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690945 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:50.157Z,1736356790.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519805
2025-01-08T17:19:50.282Z,1736356790.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:50.293Z,1736356790.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:50.295Z,1736356790.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 506.631317 m,
      bearing: 273.525935 deg,
      approach rate: -0.455204 m/s,
      LOS rate: 0.001842 deg/s,
      cmd heading: 268.771332 deg,
      new cmd heading: 268.773424 deg.

2025-01-08T17:19:50.296Z,1736356790.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690981 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:50.408Z,1736356790.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771664
2025-01-08T17:19:50.660Z,1736356790.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023558
2025-01-08T17:19:50.810Z,1736356790.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:50.819Z,1736356790.819 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:50.821Z,1736356790.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:50.840Z,1736356790.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 506.382721 m,
      bearing: 273.526381 deg,
      approach rate: -0.470319 m/s,
      LOS rate: 0.000844 deg/s,
      cmd heading: 268.773435 deg,
      new cmd heading: 268.774774 deg.

2025-01-08T17:19:50.841Z,1736356790.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691005 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:50.912Z,1736356790.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275654
2025-01-08T17:19:51.164Z,1736356791.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527765
2025-01-08T17:19:51.255Z,1736356791.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:51.276Z,1736356791.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:51.279Z,1736356791.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 506.183167 m,
      bearing: 273.526651 deg,
      approach rate: -0.438556 m/s,
      LOS rate: 0.000592 deg/s,
      cmd heading: 268.774774 deg,
      new cmd heading: 268.775582 deg.

2025-01-08T17:19:51.280Z,1736356791.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691019 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:51.416Z,1736356791.416 [DAT](INFO): DAT read: Rx Time:17:19:50.0551

2025-01-08T17:19:51.417Z,1736356791.417 [DAT](INFO): Rx dataTimestamp_ set to:1736356791.416586
2025-01-08T17:19:51.419Z,1736356791.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781834
2025-01-08T17:19:51.638Z,1736356791.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:51.647Z,1736356791.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:51.650Z,1736356791.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 506.000671 m,
      bearing: 273.526823 deg,
      approach rate: -0.492428 m/s,
      LOS rate: 0.000465 deg/s,
      cmd heading: 268.775594 deg,
      new cmd heading: 268.776110 deg.

2025-01-08T17:19:51.652Z,1736356791.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691028 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:51.669Z,1736356791.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032124
2025-01-08T17:19:51.810Z,1736356791.810 [DockingStepper](ERROR): getADC uart error serial timeout
2025-01-08T17:19:51.810Z,1736356791.810 [DockingStepper](FAULT): uart error - getPosition..serial timeout
2025-01-08T17:19:51.810Z,1736356791.810 [DockingStepper] Communications Fault, FailCount= 1
2025-01-08T17:19:51.810Z,1736356791.810 [DockingStepper](ERROR): Communications Fault
2025-01-08T17:19:51.926Z,1736356791.926 [DAT](INFO): DAT read: 17:19:50.0551 LVL= 23280, 30769, 19122, 31507, AGC= 73, IDX= 504, 0.38,-2.643, 1.880,-2.440, 3.046, PHS= 0.682,-1.119, 0.794, RAW= 153.0,  -3.9, CAL= 157.1, -12.2, ROT= 352.9,  12.2

2025-01-08T17:19:51.927Z,1736356791.927 [DAT](INFO): got valid direction response:
 17:19:50.0551 LVL= 23280, 30769, 19122, 31507, AGC= 73, IDX= 504, 0.38,-2.643, 1.880,-2.440, 3.046, PHS= 0.682,-1.119, 0.794, RAW= 153.0,  -3.9, CAL= 157.1, -12.2, ROT= 352.9,  12.2

2025-01-08T17:19:51.928Z,1736356791.928 [DAT](INFO): DAT read: $Error in header

2025-01-08T17:19:51.928Z,1736356791.928 [DAT](INFO): Received a bad header
2025-01-08T17:19:51.940Z,1736356791.940 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-08T17:19:51.941Z,1736356791.941 [DAT](INFO): direction in FSK: [0.969921,-0.120810,-0.211325]
2025-01-08T17:19:51.949Z,1736356791.949 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:51.949Z,1736356791.949 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:51.949Z,1736356791.949 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:52.008Z,1736356792.008 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-01-08T17:19:52.094Z,1736356792.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:52.129Z,1736356792.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:52.136Z,1736356792.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 505.781555 m,
      bearing: 273.527020 deg,
      approach rate: -0.454803 m/s,
      LOS rate: 0.000410 deg/s,
      cmd heading: 268.776113 deg,
      new cmd heading: 268.776706 deg.

2025-01-08T17:19:52.137Z,1736356792.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691039 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:52.158Z,1736356792.158 [DockingStepper](INFO): Stop
2025-01-08T17:19:52.158Z,1736356792.158 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-01-08T17:19:52.158Z,1736356792.158 [DockingStepper](INFO): Powering down
2025-01-08T17:19:52.172Z,1736356792.172 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:52.172Z,1736356792.172 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:52.172Z,1736356792.172 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:52.424Z,1736356792.424 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:52.424Z,1736356792.424 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:52.424Z,1736356792.424 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:52.449Z,1736356792.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:52.469Z,1736356792.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:52.477Z,1736356792.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 505.610809 m,
      bearing: 273.527063 deg,
      approach rate: -0.516621 m/s,
      LOS rate: 0.000128 deg/s,
      cmd heading: 268.776714 deg,
      new cmd heading: 268.776841 deg.

2025-01-08T17:19:52.478Z,1736356792.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691041 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:52.512Z,1736356792.512 [DockingStepper](INFO): Stopping
2025-01-08T17:19:52.680Z,1736356792.680 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:52.680Z,1736356792.680 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:52.680Z,1736356792.680 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:52.877Z,1736356792.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:52.885Z,1736356792.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:52.888Z,1736356792.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:52.890Z,1736356792.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 505.380310 m,
      bearing: 273.526821 deg,
      approach rate: -0.538081 m/s,
      LOS rate: -0.000565 deg/s,
      cmd heading: 268.776850 deg,
      new cmd heading: 268.776124 deg.

2025-01-08T17:19:52.892Z,1736356792.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691028 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:52.932Z,1736356792.932 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:52.932Z,1736356792.932 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:52.932Z,1736356792.932 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:52.933Z,1736356792.933 [DockingStepper](INFO): Stopping
2025-01-08T17:19:53.185Z,1736356793.185 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:53.185Z,1736356793.185 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:53.185Z,1736356793.185 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:53.262Z,1736356793.262 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:53.273Z,1736356793.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:53.288Z,1736356793.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 505.172943 m,
      bearing: 273.526565 deg,
      approach rate: -0.538181 m/s,
      LOS rate: -0.000665 deg/s,
      cmd heading: 268.776113 deg,
      new cmd heading: 268.775344 deg.

2025-01-08T17:19:53.289Z,1736356793.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691015 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:53.344Z,1736356793.344 [DockingStepper](INFO): Stopping
2025-01-08T17:19:53.436Z,1736356793.436 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:53.436Z,1736356793.436 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:53.436Z,1736356793.436 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:53.668Z,1736356793.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:53.676Z,1736356793.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:53.679Z,1736356793.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 504.954712 m,
      bearing: 273.526275 deg,
      approach rate: -0.541044 m/s,
      LOS rate: -0.000718 deg/s,
      cmd heading: 268.775348 deg,
      new cmd heading: 268.774478 deg.

2025-01-08T17:19:53.680Z,1736356793.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691000 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:53.693Z,1736356793.693 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:53.694Z,1736356793.694 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:53.694Z,1736356793.694 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:53.751Z,1736356793.751 [DockingStepper](INFO): Stopping
2025-01-08T17:19:53.940Z,1736356793.940 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:53.940Z,1736356793.940 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:53.940Z,1736356793.940 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:54.106Z,1736356794.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:54.115Z,1736356794.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:54.119Z,1736356794.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 504.682983 m,
      bearing: 273.526076 deg,
      approach rate: -0.619463 m/s,
      LOS rate: -0.000455 deg/s,
      cmd heading: 268.774474 deg,
      new cmd heading: 268.773875 deg.

2025-01-08T17:19:54.120Z,1736356794.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690989 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:54.192Z,1736356794.192 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:54.192Z,1736356794.192 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:54.192Z,1736356794.192 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:54.268Z,1736356794.268 [DockingStepper](INFO): Stopping
2025-01-08T17:19:54.444Z,1736356794.444 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:54.444Z,1736356794.444 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:54.444Z,1736356794.444 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:54.505Z,1736356794.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:54.530Z,1736356794.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:54.541Z,1736356794.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 504.436066 m,
      bearing: 273.525894 deg,
      approach rate: -0.594189 m/s,
      LOS rate: -0.000437 deg/s,
      cmd heading: 268.773872 deg,
      new cmd heading: 268.773328 deg.

2025-01-08T17:19:54.542Z,1736356794.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690979 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:54.580Z,1736356794.580 [DockingStepper](INFO): Stopping
2025-01-08T17:19:54.700Z,1736356794.700 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:54.700Z,1736356794.700 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:54.700Z,1736356794.700 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:54.908Z,1736356794.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:54.915Z,1736356794.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:54.918Z,1736356794.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:54.922Z,1736356794.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 504.156433 m,
      bearing: 273.526047 deg,
      approach rate: -0.722972 m/s,
      LOS rate: 0.000396 deg/s,
      cmd heading: 268.773326 deg,
      new cmd heading: 268.773786 deg.

2025-01-08T17:19:54.923Z,1736356794.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690988 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:54.948Z,1736356794.948 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:54.948Z,1736356794.948 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:54.948Z,1736356794.948 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:55.088Z,1736356795.088 [DockingStepper](INFO): Stopping
2025-01-08T17:19:55.200Z,1736356795.200 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:55.200Z,1736356795.200 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:55.201Z,1736356795.201 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:55.312Z,1736356795.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:55.322Z,1736356795.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:55.325Z,1736356795.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 503.876282 m,
      bearing: 273.526468 deg,
      approach rate: -0.692366 m/s,
      LOS rate: 0.001039 deg/s,
      cmd heading: 268.773790 deg,
      new cmd heading: 268.775052 deg.

2025-01-08T17:19:55.326Z,1736356795.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691010 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:55.343Z,1736356795.343 [DockingStepper](INFO): Stopping
2025-01-08T17:19:55.452Z,1736356795.452 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:55.452Z,1736356795.452 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:55.453Z,1736356795.453 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:55.705Z,1736356795.705 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:55.705Z,1736356795.705 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:55.705Z,1736356795.705 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:55.762Z,1736356795.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:55.774Z,1736356795.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:55.793Z,1736356795.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 503.564392 m,
      bearing: 273.527137 deg,
      approach rate: -0.690945 m/s,
      LOS rate: 0.001484 deg/s,
      cmd heading: 268.775047 deg,
      new cmd heading: 268.777057 deg.

2025-01-08T17:19:55.797Z,1736356795.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691045 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:55.896Z,1736356795.896 [DockingStepper](INFO): Stopping
2025-01-08T17:19:55.957Z,1736356795.957 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:55.957Z,1736356795.957 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:55.958Z,1736356795.958 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:56.126Z,1736356796.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:56.155Z,1736356796.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:56.158Z,1736356796.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 503.288849 m,
      bearing: 273.528244 deg,
      approach rate: -0.721353 m/s,
      LOS rate: 0.002899 deg/s,
      cmd heading: 268.777069 deg,
      new cmd heading: 268.780391 deg.

2025-01-08T17:19:56.159Z,1736356796.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691103 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:56.172Z,1736356796.172 [DockingStepper](INFO): Stopping
2025-01-08T17:19:56.211Z,1736356796.211 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:56.211Z,1736356796.211 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:56.211Z,1736356796.211 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:56.464Z,1736356796.464 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:56.464Z,1736356796.464 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:56.464Z,1736356796.464 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:56.528Z,1736356796.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:56.538Z,1736356796.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:56.541Z,1736356796.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 502.984833 m,
      bearing: 273.529467 deg,
      approach rate: -0.794695 m/s,
      LOS rate: 0.003198 deg/s,
      cmd heading: 268.780402 deg,
      new cmd heading: 268.784072 deg.

2025-01-08T17:19:56.542Z,1736356796.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691167 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:56.717Z,1736356796.717 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:56.717Z,1736356796.717 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:56.717Z,1736356796.717 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:56.748Z,1736356796.748 [DockingStepper](INFO): Stopping
2025-01-08T17:19:56.968Z,1736356796.968 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:56.968Z,1736356796.968 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:56.969Z,1736356796.969 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:57.006Z,1736356797.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:57.013Z,1736356797.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:57.015Z,1736356797.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:57.019Z,1736356797.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 502.614410 m,
      bearing: 273.531449 deg,
      approach rate: -0.776324 m/s,
      LOS rate: 0.004158 deg/s,
      cmd heading: 268.784063 deg,
      new cmd heading: 268.790015 deg.

2025-01-08T17:19:57.036Z,1736356797.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691271 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:57.105Z,1736356797.105 [DockingStepper](INFO): Stopping
2025-01-08T17:19:57.223Z,1736356797.223 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:57.223Z,1736356797.223 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:57.223Z,1736356797.223 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:57.346Z,1736356797.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:57.356Z,1736356797.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:57.359Z,1736356797.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 502.350677 m,
      bearing: 273.533332 deg,
      approach rate: -0.772061 m/s,
      LOS rate: 0.005516 deg/s,
      cmd heading: 268.790019 deg,
      new cmd heading: 268.795671 deg.

2025-01-08T17:19:57.360Z,1736356797.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691370 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:57.472Z,1736356797.472 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:19:57.472Z,1736356797.472 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:19:57.472Z,1736356797.472 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:19:57.495Z,1736356797.495 [DockingStepper](INFO): Stopping
2025-01-08T17:19:57.724Z,1736356797.724 [DAT](INFO): Reached modem response timeout
2025-01-08T17:19:57.725Z,1736356797.725 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:19:57.725Z,1736356797.725 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:19:57.767Z,1736356797.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:57.790Z,1736356797.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:57.805Z,1736356797.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 502.025024 m,
      bearing: 273.535818 deg,
      approach rate: -0.751241 m/s,
      LOS rate: 0.005737 deg/s,
      cmd heading: 268.795674 deg,
      new cmd heading: 268.803135 deg.

2025-01-08T17:19:57.812Z,1736356797.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691500 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:57.897Z,1736356797.897 [DockingStepper](INFO): Stopping
2025-01-08T17:19:57.976Z,1736356797.976 [DAT](INFO): Reached modem response timeout
2025-01-08T17:19:57.976Z,1736356797.976 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:19:57.976Z,1736356797.976 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:19:58.179Z,1736356798.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:58.189Z,1736356798.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:58.214Z,1736356798.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 501.725616 m,
      bearing: 273.538847 deg,
      approach rate: -0.749742 m/s,
      LOS rate: 0.007590 deg/s,
      cmd heading: 268.803133 deg,
      new cmd heading: 268.812226 deg.

2025-01-08T17:19:58.220Z,1736356798.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691658 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:58.228Z,1736356798.228 [DAT](INFO): Reached modem response timeout
2025-01-08T17:19:58.228Z,1736356798.228 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:19:58.229Z,1736356798.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:19:58.254Z,1736356798.254 [DockingStepper](INFO): Stopping
2025-01-08T17:19:58.480Z,1736356798.480 [DAT](INFO): Reached modem response timeout
2025-01-08T17:19:58.480Z,1736356798.480 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:19:58.480Z,1736356798.480 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:19:58.566Z,1736356798.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:58.579Z,1736356798.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:58.582Z,1736356798.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 501.444702 m,
      bearing: 273.541768 deg,
      approach rate: -0.721103 m/s,
      LOS rate: 0.007503 deg/s,
      cmd heading: 268.812231 deg,
      new cmd heading: 268.821000 deg.

2025-01-08T17:19:58.583Z,1736356798.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691812 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:58.597Z,1736356798.597 [DockingStepper](INFO): Stopping
2025-01-08T17:19:58.733Z,1736356798.733 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:19:58.733Z,1736356798.733 [DAT](INFO): response not received
2025-01-08T17:19:58.733Z,1736356798.733 [DAT](INFO): DAT read: user:60>

2025-01-08T17:19:58.734Z,1736356798.734 [DAT](INFO): DAT read: Tx time:17:19:57.9314

2025-01-08T17:19:58.734Z,1736356798.734 [DAT](INFO): Ping request sent.
2025-01-08T17:19:58.734Z,1736356798.734 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:19:58.734Z,1736356798.734 [DAT](INFO): publishing transmit ping time
2025-01-08T17:19:58.736Z,1736356798.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756
2025-01-08T17:19:58.985Z,1736356798.985 [DAT](INFO): DAT read: TxSync time:17:19:57.9306

2025-01-08T17:19:58.986Z,1736356798.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251692
2025-01-08T17:19:58.990Z,1736356798.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:58.999Z,1736356798.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:59.026Z,1736356799.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 501.128754 m,
      bearing: 273.545584 deg,
      approach rate: -0.752606 m/s,
      LOS rate: 0.009095 deg/s,
      cmd heading: 268.821001 deg,
      new cmd heading: 268.832455 deg.

2025-01-08T17:19:59.027Z,1736356799.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692011 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:59.057Z,1736356799.057 [DockingStepper](INFO): Stopping
2025-01-08T17:19:59.236Z,1736356799.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502018
2025-01-08T17:19:59.378Z,1736356799.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:59.386Z,1736356799.386 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:19:59.388Z,1736356799.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:59.391Z,1736356799.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 500.839752 m,
      bearing: 273.549159 deg,
      approach rate: -0.741343 m/s,
      LOS rate: 0.009176 deg/s,
      cmd heading: 268.832448 deg,
      new cmd heading: 268.843179 deg.

2025-01-08T17:19:59.393Z,1736356799.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692199 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:59.406Z,1736356799.406 [DockingStepper](INFO): Stopping
2025-01-08T17:19:59.488Z,1736356799.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754134
2025-01-08T17:19:59.740Z,1736356799.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005884
2025-01-08T17:19:59.766Z,1736356799.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:19:59.775Z,1736356799.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:19:59.778Z,1736356799.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 500.551147 m,
      bearing: 273.552695 deg,
      approach rate: -0.747295 m/s,
      LOS rate: 0.009161 deg/s,
      cmd heading: 268.843185 deg,
      new cmd heading: 268.853799 deg.

2025-01-08T17:19:59.779Z,1736356799.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692384 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:19:59.822Z,1736356799.822 [DockingStepper](INFO): Stopping
2025-01-08T17:19:59.992Z,1736356799.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257976
2025-01-08T17:20:00.197Z,1736356800.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:00.206Z,1736356800.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:00.209Z,1736356800.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 500.256470 m,
      bearing: 273.556759 deg,
      approach rate: -0.682695 m/s,
      LOS rate: 0.009422 deg/s,
      cmd heading: 268.853786 deg,
      new cmd heading: 268.865987 deg.

2025-01-08T17:20:00.210Z,1736356800.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692597 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:00.244Z,1736356800.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510078
2025-01-08T17:20:00.246Z,1736356800.246 [DockingStepper](INFO): Stopping
2025-01-08T17:20:00.496Z,1736356800.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761909
2025-01-08T17:20:00.581Z,1736356800.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:00.590Z,1736356800.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:00.593Z,1736356800.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 499.994141 m,
      bearing: 273.560253 deg,
      approach rate: -0.683790 m/s,
      LOS rate: 0.009112 deg/s,
      cmd heading: 268.865998 deg,
      new cmd heading: 268.876485 deg.

2025-01-08T17:20:00.594Z,1736356800.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692780 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:00.631Z,1736356800.631 [DockingStepper](INFO): Stopping
2025-01-08T17:20:00.748Z,1736356800.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013868
2025-01-08T17:20:01.001Z,1736356801.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266824
2025-01-08T17:20:01.024Z,1736356801.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:01.032Z,1736356801.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:01.036Z,1736356801.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 499.726227 m,
      bearing: 273.563911 deg,
      approach rate: -0.605430 m/s,
      LOS rate: 0.008269 deg/s,
      cmd heading: 268.876489 deg,
      new cmd heading: 268.887467 deg.

2025-01-08T17:20:01.037Z,1736356801.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692972 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:01.051Z,1736356801.051 [DockingStepper](INFO): Stopping
2025-01-08T17:20:01.252Z,1736356801.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517896
2025-01-08T17:20:01.386Z,1736356801.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:01.393Z,1736356801.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:01.396Z,1736356801.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:01.399Z,1736356801.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 499.507294 m,
      bearing: 273.566804 deg,
      approach rate: -0.602937 m/s,
      LOS rate: 0.007973 deg/s,
      cmd heading: 268.887472 deg,
      new cmd heading: 268.896157 deg.

2025-01-08T17:20:01.400Z,1736356801.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693123 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:01.414Z,1736356801.414 [DockingStepper](INFO): Stopping
2025-01-08T17:20:01.505Z,1736356801.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770318
2025-01-08T17:20:01.756Z,1736356801.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022054
2025-01-08T17:20:01.805Z,1736356801.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:01.813Z,1736356801.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:01.816Z,1736356801.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 499.254150 m,
      bearing: 273.570055 deg,
      approach rate: -0.606264 m/s,
      LOS rate: 0.007789 deg/s,
      cmd heading: 268.896160 deg,
      new cmd heading: 268.905916 deg.

2025-01-08T17:20:01.818Z,1736356801.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693294 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:01.904Z,1736356801.904 [DockingStepper](INFO): Stopping
2025-01-08T17:20:02.008Z,1736356802.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273954
2025-01-08T17:20:02.212Z,1736356802.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:02.222Z,1736356802.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:02.241Z,1736356802.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 499.036255 m,
      bearing: 273.573102 deg,
      approach rate: -0.533397 m/s,
      LOS rate: 0.007462 deg/s,
      cmd heading: 268.905914 deg,
      new cmd heading: 268.915058 deg.

2025-01-08T17:20:02.242Z,1736356802.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693453 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:02.261Z,1736356802.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526302
2025-01-08T17:20:02.277Z,1736356802.277 [DockingStepper](INFO): Stopping
2025-01-08T17:20:02.512Z,1736356802.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777995
2025-01-08T17:20:02.595Z,1736356802.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:02.605Z,1736356802.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:02.608Z,1736356802.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 498.831635 m,
      bearing: 273.575894 deg,
      approach rate: -0.533971 m/s,
      LOS rate: 0.007289 deg/s,
      cmd heading: 268.915066 deg,
      new cmd heading: 268.923446 deg.

2025-01-08T17:20:02.609Z,1736356802.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693600 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:02.642Z,1736356802.642 [DockingStepper](INFO): Stopping
2025-01-08T17:20:02.764Z,1736356802.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030091
2025-01-08T17:20:03.016Z,1736356803.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281986
2025-01-08T17:20:03.042Z,1736356803.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:03.070Z,1736356803.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:03.082Z,1736356803.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 498.615875 m,
      bearing: 273.578395 deg,
      approach rate: -0.466841 m/s,
      LOS rate: 0.005414 deg/s,
      cmd heading: 268.923454 deg,
      new cmd heading: 268.930960 deg.

2025-01-08T17:20:03.083Z,1736356803.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693731 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:03.124Z,1736356803.124 [DockingStepper](INFO): Stopping
2025-01-08T17:20:03.269Z,1736356803.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534580
2025-01-08T17:20:03.412Z,1736356803.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:03.419Z,1736356803.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:03.421Z,1736356803.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:03.424Z,1736356803.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 498.438171 m,
      bearing: 273.580394 deg,
      approach rate: -0.501241 m/s,
      LOS rate: 0.005642 deg/s,
      cmd heading: 268.930967 deg,
      new cmd heading: 268.936967 deg.

2025-01-08T17:20:03.425Z,1736356803.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693836 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:03.439Z,1736356803.439 [DockingStepper](INFO): Stopping
2025-01-08T17:20:03.520Z,1736356803.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786096
2025-01-08T17:20:03.772Z,1736356803.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037997
2025-01-08T17:20:03.810Z,1736356803.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:03.855Z,1736356803.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:03.865Z,1736356803.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 498.245819 m,
      bearing: 273.582510 deg,
      approach rate: -0.457240 m/s,
      LOS rate: 0.005032 deg/s,
      cmd heading: 268.936977 deg,
      new cmd heading: 268.943327 deg.

2025-01-08T17:20:03.866Z,1736356803.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693946 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:03.890Z,1736356803.890 [DockingStepper](INFO): Stopping
2025-01-08T17:20:04.025Z,1736356804.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290674
2025-01-08T17:20:04.254Z,1736356804.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:04.263Z,1736356804.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:04.266Z,1736356804.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 498.047241 m,
      bearing: 273.584196 deg,
      approach rate: -0.471966 m/s,
      LOS rate: 0.004009 deg/s,
      cmd heading: 268.943316 deg,
      new cmd heading: 268.948376 deg.

2025-01-08T17:20:04.268Z,1736356804.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694035 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:04.276Z,1736356804.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542007
2025-01-08T17:20:04.311Z,1736356804.311 [DockingStepper](INFO): Stopping
2025-01-08T17:20:04.528Z,1736356804.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793905
2025-01-08T17:20:04.625Z,1736356804.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:04.634Z,1736356804.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:04.637Z,1736356804.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 497.881744 m,
      bearing: 273.585520 deg,
      approach rate: -0.446225 m/s,
      LOS rate: 0.003571 deg/s,
      cmd heading: 268.948370 deg,
      new cmd heading: 268.952343 deg.

2025-01-08T17:20:04.638Z,1736356804.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694104 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:04.653Z,1736356804.653 [DockingStepper](INFO): Stopping
2025-01-08T17:20:04.781Z,1736356804.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046212
2025-01-08T17:20:05.044Z,1736356805.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.309966
2025-01-08T17:20:05.072Z,1736356805.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:05.080Z,1736356805.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:05.083Z,1736356805.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 497.681213 m,
      bearing: 273.586524 deg,
      approach rate: -0.449347 m/s,
      LOS rate: 0.002249 deg/s,
      cmd heading: 268.952332 deg,
      new cmd heading: 268.955343 deg.

2025-01-08T17:20:05.092Z,1736356805.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694156 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:05.118Z,1736356805.118 [DockingStepper](INFO): Stopping
2025-01-08T17:20:05.296Z,1736356805.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.562060
2025-01-08T17:20:05.425Z,1736356805.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:05.432Z,1736356805.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:05.435Z,1736356805.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:05.438Z,1736356805.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 497.522583 m,
      bearing: 273.587304 deg,
      approach rate: -0.447059 m/s,
      LOS rate: 0.002200 deg/s,
      cmd heading: 268.955337 deg,
      new cmd heading: 268.957679 deg.

2025-01-08T17:20:05.440Z,1736356805.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694197 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:05.453Z,1736356805.453 [DockingStepper](INFO): Stopping
2025-01-08T17:20:05.548Z,1736356805.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.814101
2025-01-08T17:20:05.801Z,1736356805.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.066696
2025-01-08T17:20:05.854Z,1736356805.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:05.870Z,1736356805.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:05.877Z,1736356805.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 497.330414 m,
      bearing: 273.588248 deg,
      approach rate: -0.441462 m/s,
      LOS rate: 0.002168 deg/s,
      cmd heading: 268.957686 deg,
      new cmd heading: 268.960518 deg.

2025-01-08T17:20:05.878Z,1736356805.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694247 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:05.922Z,1736356805.922 [DockingStepper](INFO): Stopping
2025-01-08T17:20:06.053Z,1736356806.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.318511
2025-01-08T17:20:06.271Z,1736356806.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:06.280Z,1736356806.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:06.282Z,1736356806.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 497.131805 m,
      bearing: 273.588763 deg,
      approach rate: -0.485345 m/s,
      LOS rate: 0.001259 deg/s,
      cmd heading: 268.960528 deg,
      new cmd heading: 268.962073 deg.

2025-01-08T17:20:06.284Z,1736356806.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694274 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:06.297Z,1736356806.297 [DockingStepper](INFO): Stopping
2025-01-08T17:20:06.304Z,1736356806.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.570142
2025-01-08T17:20:06.556Z,1736356806.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.821895
2025-01-08T17:20:06.643Z,1736356806.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:06.653Z,1736356806.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:06.656Z,1736356806.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 496.954651 m,
      bearing: 273.589244 deg,
      approach rate: -0.473728 m/s,
      LOS rate: 0.001288 deg/s,
      cmd heading: 268.962085 deg,
      new cmd heading: 268.963530 deg.

2025-01-08T17:20:06.657Z,1736356806.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694299 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:06.671Z,1736356806.671 [DockingStepper](INFO): Stopping
2025-01-08T17:20:06.808Z,1736356806.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.073925
2025-01-08T17:20:07.060Z,1736356807.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.326088
2025-01-08T17:20:07.081Z,1736356807.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:07.090Z,1736356807.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:07.110Z,1736356807.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 496.723267 m,
      bearing: 273.589872 deg,
      approach rate: -0.529939 m/s,
      LOS rate: 0.001439 deg/s,
      cmd heading: 268.963533 deg,
      new cmd heading: 268.965419 deg.

2025-01-08T17:20:07.116Z,1736356807.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694332 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:07.143Z,1736356807.143 [DockingStepper](INFO): Stopping
2025-01-08T17:20:07.313Z,1736356807.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578291
2025-01-08T17:20:07.447Z,1736356807.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:07.475Z,1736356807.475 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:07.477Z,1736356807.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:07.480Z,1736356807.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 496.529602 m,
      bearing: 273.590432 deg,
      approach rate: -0.500081 m/s,
      LOS rate: 0.001445 deg/s,
      cmd heading: 268.965418 deg,
      new cmd heading: 268.967097 deg.

2025-01-08T17:20:07.481Z,1736356807.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694361 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:07.494Z,1736356807.494 [DockingStepper](INFO): Stopping
2025-01-08T17:20:07.564Z,1736356807.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.830018
2025-01-08T17:20:07.816Z,1736356807.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.082010
2025-01-08T17:20:07.848Z,1736356807.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:07.861Z,1736356807.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:07.864Z,1736356807.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 496.317810 m,
      bearing: 273.591072 deg,
      approach rate: -0.551956 m/s,
      LOS rate: 0.001671 deg/s,
      cmd heading: 268.967085 deg,
      new cmd heading: 268.969008 deg.

2025-01-08T17:20:07.865Z,1736356807.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694395 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:07.904Z,1736356807.904 [DockingStepper](INFO): Stopping
2025-01-08T17:20:08.069Z,1736356808.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334299
2025-01-08T17:20:08.279Z,1736356808.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:08.288Z,1736356808.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:08.291Z,1736356808.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 496.057495 m,
      bearing: 273.591900 deg,
      approach rate: -0.608969 m/s,
      LOS rate: 0.001938 deg/s,
      cmd heading: 268.968997 deg,
      new cmd heading: 268.971482 deg.

2025-01-08T17:20:08.292Z,1736356808.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694438 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:08.311Z,1736356808.311 [DockingStepper](INFO): Stopping
2025-01-08T17:20:08.321Z,1736356808.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.586233
2025-01-08T17:20:08.572Z,1736356808.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838037
2025-01-08T17:20:08.664Z,1736356808.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:08.674Z,1736356808.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:08.677Z,1736356808.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 495.825012 m,
      bearing: 273.592674 deg,
      approach rate: -0.603189 m/s,
      LOS rate: 0.002009 deg/s,
      cmd heading: 268.971483 deg,
      new cmd heading: 268.973807 deg.

2025-01-08T17:20:08.678Z,1736356808.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694479 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:08.698Z,1736356808.698 [DockingStepper](INFO): Stopping
2025-01-08T17:20:08.824Z,1736356808.824 [DAT](INFO): Reached modem response timeout
2025-01-08T17:20:08.824Z,1736356808.824 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:20:08.825Z,1736356808.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:20:09.076Z,1736356809.076 [DAT](INFO): Reached modem response timeout
2025-01-08T17:20:09.077Z,1736356809.077 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:20:09.077Z,1736356809.077 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:20:09.130Z,1736356809.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:09.139Z,1736356809.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:09.142Z,1736356809.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 495.503418 m,
      bearing: 273.594268 deg,
      approach rate: -0.691100 m/s,
      LOS rate: 0.003426 deg/s,
      cmd heading: 268.973806 deg,
      new cmd heading: 268.978589 deg.

2025-01-08T17:20:09.143Z,1736356809.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694562 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:09.156Z,1736356809.156 [DockingStepper](INFO): Stopping
2025-01-08T17:20:09.328Z,1736356809.328 [DAT](INFO): Reached modem response timeout
2025-01-08T17:20:09.328Z,1736356809.328 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:20:09.328Z,1736356809.328 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:20:09.464Z,1736356809.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:09.489Z,1736356809.489 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:09.494Z,1736356809.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:09.498Z,1736356809.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 495.272858 m,
      bearing: 273.595471 deg,
      approach rate: -0.652238 m/s,
      LOS rate: 0.003405 deg/s,
      cmd heading: 268.978587 deg,
      new cmd heading: 268.982198 deg.

2025-01-08T17:20:09.516Z,1736356809.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694625 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:09.544Z,1736356809.544 [DockingStepper](INFO): Stopping
2025-01-08T17:20:09.580Z,1736356809.580 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:20:09.581Z,1736356809.581 [DAT](INFO): response not received
2025-01-08T17:20:09.581Z,1736356809.581 [DAT](INFO): DAT read: user:61>

2025-01-08T17:20:09.582Z,1736356809.582 [DAT](INFO): DAT read: Tx time:17:20:08.8815

2025-01-08T17:20:09.582Z,1736356809.582 [DAT](INFO): Ping request sent.
2025-01-08T17:20:09.582Z,1736356809.582 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:20:09.582Z,1736356809.582 [DAT](INFO): publishing transmit ping time
2025-01-08T17:20:09.584Z,1736356809.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-01-08T17:20:09.833Z,1736356809.833 [DAT](INFO): DAT read: TxSync time:17:20:08.8807

2025-01-08T17:20:09.834Z,1736356809.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251817
2025-01-08T17:20:09.897Z,1736356809.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:09.906Z,1736356809.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:09.909Z,1736356809.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 494.973877 m,
      bearing: 273.597119 deg,
      approach rate: -0.723721 m/s,
      LOS rate: 0.003991 deg/s,
      cmd heading: 268.982193 deg,
      new cmd heading: 268.987140 deg.

2025-01-08T17:20:09.910Z,1736356809.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694711 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:09.937Z,1736356809.937 [DockingStepper](INFO): Stopping
2025-01-08T17:20:10.086Z,1736356810.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503967
2025-01-08T17:20:10.313Z,1736356810.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:10.322Z,1736356810.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:10.325Z,1736356810.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 494.666656 m,
      bearing: 273.598950 deg,
      approach rate: -0.738294 m/s,
      LOS rate: 0.004404 deg/s,
      cmd heading: 268.987138 deg,
      new cmd heading: 268.992636 deg.

2025-01-08T17:20:10.326Z,1736356810.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694807 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:10.336Z,1736356810.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754103
2025-01-08T17:20:10.341Z,1736356810.341 [DockingStepper](INFO): Stopping
2025-01-08T17:20:10.589Z,1736356810.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006241
2025-01-08T17:20:10.737Z,1736356810.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:10.746Z,1736356810.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:10.748Z,1736356810.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 494.352661 m,
      bearing: 273.600825 deg,
      approach rate: -0.741046 m/s,
      LOS rate: 0.004426 deg/s,
      cmd heading: 268.992630 deg,
      new cmd heading: 268.998256 deg.

2025-01-08T17:20:10.749Z,1736356810.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694905 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:10.763Z,1736356810.763 [DockingStepper](INFO): Stopping
2025-01-08T17:20:10.841Z,1736356810.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258320
2025-01-08T17:20:11.092Z,1736356811.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510074
2025-01-08T17:20:11.152Z,1736356811.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:11.160Z,1736356811.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:11.163Z,1736356811.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 494.032532 m,
      bearing: 273.604425 deg,
      approach rate: -0.772438 m/s,
      LOS rate: 0.008693 deg/s,
      cmd heading: 268.998258 deg,
      new cmd heading: 269.009066 deg.

2025-01-08T17:20:11.164Z,1736356811.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695094 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:11.177Z,1736356811.177 [DockingStepper](INFO): Stopping
2025-01-08T17:20:11.344Z,1736356811.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762088
2025-01-08T17:20:11.484Z,1736356811.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:11.491Z,1736356811.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:11.493Z,1736356811.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:11.496Z,1736356811.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 493.776276 m,
      bearing: 273.607360 deg,
      approach rate: -0.769081 m/s,
      LOS rate: 0.008814 deg/s,
      cmd heading: 269.009077 deg,
      new cmd heading: 269.017888 deg.

2025-01-08T17:20:11.497Z,1736356811.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695248 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:11.536Z,1736356811.536 [DockingStepper](INFO): Stopping
2025-01-08T17:20:11.596Z,1736356811.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014199
2025-01-08T17:20:11.853Z,1736356811.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270892
2025-01-08T17:20:11.892Z,1736356811.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:11.901Z,1736356811.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:11.905Z,1736356811.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 493.460999 m,
      bearing: 273.611051 deg,
      approach rate: -0.773035 m/s,
      LOS rate: 0.009054 deg/s,
      cmd heading: 269.017874 deg,
      new cmd heading: 269.028952 deg.

2025-01-08T17:20:11.906Z,1736356811.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695441 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:11.962Z,1736356811.962 [DockingStepper](INFO): Stopping
2025-01-08T17:20:12.104Z,1736356812.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521652
2025-01-08T17:20:12.318Z,1736356812.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:12.326Z,1736356812.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:12.332Z,1736356812.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 493.132477 m,
      bearing: 273.615134 deg,
      approach rate: -0.772687 m/s,
      LOS rate: 0.009611 deg/s,
      cmd heading: 269.028939 deg,
      new cmd heading: 269.041198 deg.

2025-01-08T17:20:12.334Z,1736356812.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695655 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:12.354Z,1736356812.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771574
2025-01-08T17:20:12.368Z,1736356812.368 [DockingStepper](INFO): Stopping
2025-01-08T17:20:12.604Z,1736356812.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022021
2025-01-08T17:20:12.700Z,1736356812.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:12.715Z,1736356812.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:12.720Z,1736356812.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 492.838226 m,
      bearing: 273.618856 deg,
      approach rate: -0.758663 m/s,
      LOS rate: 0.009601 deg/s,
      cmd heading: 269.041206 deg,
      new cmd heading: 269.052378 deg.

2025-01-08T17:20:12.722Z,1736356812.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695850 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:12.773Z,1736356812.773 [DockingStepper](INFO): Stopped
2025-01-08T17:20:12.857Z,1736356812.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274800
2025-01-08T17:20:12.923Z,1736356812.923 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-01-08T17:20:12.923Z,1736356812.923 [DockingStepper] No Fault, FailCount= 1
2025-01-08T17:20:13.108Z,1736356813.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526162
2025-01-08T17:20:13.169Z,1736356813.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:13.187Z,1736356813.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:13.194Z,1736356813.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 492.488708 m,
      bearing: 273.623750 deg,
      approach rate: -0.739517 m/s,
      LOS rate: 0.010361 deg/s,
      cmd heading: 269.052380 deg,
      new cmd heading: 269.067071 deg.

2025-01-08T17:20:13.195Z,1736356813.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696106 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:13.225Z,1736356813.225 [DockingStepper](INFO): Start
2025-01-08T17:20:13.226Z,1736356813.226 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-01-08T17:20:13.226Z,1736356813.226 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-01-08T17:20:13.360Z,1736356813.360 [DAT](INFO): DAT read: Rx Time:17:20:11.9463

2025-01-08T17:20:13.361Z,1736356813.361 [DAT](INFO): Rx dataTimestamp_ set to:1736356813.360442
2025-01-08T17:20:13.361Z,1736356813.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779017
2025-01-08T17:20:13.512Z,1736356813.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:13.520Z,1736356813.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:13.522Z,1736356813.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:13.525Z,1736356813.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 492.233765 m,
      bearing: 273.627343 deg,
      approach rate: -0.759965 m/s,
      LOS rate: 0.010719 deg/s,
      cmd heading: 269.067079 deg,
      new cmd heading: 269.077866 deg.

2025-01-08T17:20:13.526Z,1736356813.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696295 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:13.564Z,1736356813.564 [DockingStepper](INFO): Starting
2025-01-08T17:20:13.613Z,1736356813.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031057
2025-01-08T17:20:13.871Z,1736356813.871 [DAT](INFO): DAT read: 17:20:11.9463 LVL= 21872, 24017, 19362, 31619, AGC= 71, IDX= 330,-0.16,-1.346,-3.055,-1.490,-2.150, PHS= 0.892,-0.858, 0.657, RAW= 142.9,  -8.4, CAL= 149.5, -17.7, ROT=   0.5,  17.7

2025-01-08T17:20:13.872Z,1736356813.872 [DAT](INFO): got valid direction response:
 17:20:11.9463 LVL= 21872, 24017, 19362, 31619, AGC= 71, IDX= 330,-0.16,-1.346,-3.055,-1.490,-2.150, PHS= 0.892,-0.858, 0.657, RAW= 142.9,  -8.4, CAL= 149.5, -17.7, ROT=   0.5,  17.7

2025-01-08T17:20:13.873Z,1736356813.873 [DAT](INFO): DAT read: $Error in header

2025-01-08T17:20:13.873Z,1736356813.873 [DAT](INFO): Received a bad header
2025-01-08T17:20:13.888Z,1736356813.888 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-08T17:20:13.888Z,1736356813.888 [DAT](INFO): direction in FSK: [0.952625,0.008313,-0.304033]
2025-01-08T17:20:13.892Z,1736356813.892 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:13.892Z,1736356813.892 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:13.892Z,1736356813.892 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:13.945Z,1736356813.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:13.963Z,1736356813.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:13.973Z,1736356813.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 491.911346 m,
      bearing: 273.631894 deg,
      approach rate: -0.732244 m/s,
      LOS rate: 0.010342 deg/s,
      cmd heading: 269.077871 deg,
      new cmd heading: 269.091532 deg.

2025-01-08T17:20:13.980Z,1736356813.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696533 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:14.044Z,1736356814.044 [DockingStepper](INFO): Starting
2025-01-08T17:20:14.119Z,1736356814.119 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:14.119Z,1736356814.119 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:14.123Z,1736356814.123 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:14.331Z,1736356814.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:14.358Z,1736356814.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:14.365Z,1736356814.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 491.657440 m,
      bearing: 273.635380 deg,
      approach rate: -0.642061 m/s,
      LOS rate: 0.008820 deg/s,
      cmd heading: 269.091531 deg,
      new cmd heading: 269.101994 deg.

2025-01-08T17:20:14.366Z,1736356814.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696716 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:14.369Z,1736356814.369 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:14.369Z,1736356814.369 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:14.369Z,1736356814.369 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:14.392Z,1736356814.392 [DockingStepper](INFO): Starting
2025-01-08T17:20:14.440Z,1736356814.440 [DockingStepper](INFO): Init string: /1z16349aE13561N3m50
2025-01-08T17:20:14.621Z,1736356814.621 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:14.621Z,1736356814.621 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:14.621Z,1736356814.621 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:14.729Z,1736356814.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:14.740Z,1736356814.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:14.742Z,1736356814.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 491.394897 m,
      bearing: 273.638913 deg,
      approach rate: -0.688301 m/s,
      LOS rate: 0.009267 deg/s,
      cmd heading: 269.101995 deg,
      new cmd heading: 269.112600 deg.

2025-01-08T17:20:14.744Z,1736356814.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696901 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:14.782Z,1736356814.782 [DockingStepper](INFO): Starting
2025-01-08T17:20:14.872Z,1736356814.872 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:14.872Z,1736356814.872 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:14.872Z,1736356814.872 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:15.128Z,1736356815.128 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:15.128Z,1736356815.128 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:15.129Z,1736356815.129 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:15.201Z,1736356815.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:15.209Z,1736356815.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:15.212Z,1736356815.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 491.124817 m,
      bearing: 273.642619 deg,
      approach rate: -0.574988 m/s,
      LOS rate: 0.007894 deg/s,
      cmd heading: 269.112595 deg,
      new cmd heading: 269.123719 deg.

2025-01-08T17:20:15.213Z,1736356815.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697095 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:15.226Z,1736356815.226 [DockingStepper](INFO): Starting
2025-01-08T17:20:15.376Z,1736356815.376 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:15.377Z,1736356815.377 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:15.377Z,1736356815.377 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:15.524Z,1736356815.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:15.531Z,1736356815.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:15.533Z,1736356815.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:15.537Z,1736356815.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 490.938995 m,
      bearing: 273.645075 deg,
      approach rate: -0.573738 m/s,
      LOS rate: 0.007585 deg/s,
      cmd heading: 269.123715 deg,
      new cmd heading: 269.131085 deg.

2025-01-08T17:20:15.538Z,1736356815.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697224 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:15.572Z,1736356815.572 [DockingStepper](INFO): Starting
2025-01-08T17:20:15.628Z,1736356815.628 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:15.628Z,1736356815.628 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:15.628Z,1736356815.628 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:15.880Z,1736356815.880 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:15.880Z,1736356815.880 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:15.880Z,1736356815.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:15.944Z,1736356815.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:15.953Z,1736356815.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:15.956Z,1736356815.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 490.698486 m,
      bearing: 273.648114 deg,
      approach rate: -0.572341 m/s,
      LOS rate: 0.007236 deg/s,
      cmd heading: 269.131091 deg,
      new cmd heading: 269.140214 deg.

2025-01-08T17:20:15.957Z,1736356815.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697383 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:15.972Z,1736356815.972 [DockingStepper](INFO): Starting
2025-01-08T17:20:16.012Z,1736356816.012 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-01-08T17:20:16.135Z,1736356816.135 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:16.136Z,1736356816.136 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:16.136Z,1736356816.136 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:16.351Z,1736356816.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:16.380Z,1736356816.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:16.383Z,1736356816.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 490.501129 m,
      bearing: 273.650547 deg,
      approach rate: -0.462299 m/s,
      LOS rate: 0.005701 deg/s,
      cmd heading: 269.140216 deg,
      new cmd heading: 269.147518 deg.

2025-01-08T17:20:16.385Z,1736356816.385 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:16.385Z,1736356816.385 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:16.385Z,1736356816.385 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:16.388Z,1736356816.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697510 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:16.417Z,1736356816.417 [DockingStepper](INFO): Starting
2025-01-08T17:20:16.636Z,1736356816.636 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:16.636Z,1736356816.636 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:16.636Z,1736356816.636 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:16.743Z,1736356816.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:16.753Z,1736356816.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:16.756Z,1736356816.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 490.310608 m,
      bearing: 273.652767 deg,
      approach rate: -0.510844 m/s,
      LOS rate: 0.005956 deg/s,
      cmd heading: 269.147511 deg,
      new cmd heading: 269.154175 deg.

2025-01-08T17:20:16.757Z,1736356816.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697627 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:16.791Z,1736356816.791 [DockingStepper](INFO): Changing to mode: 1
2025-01-08T17:20:16.795Z,1736356816.795 [DockingStepper](INFO): Standby mode.
2025-01-08T17:20:16.888Z,1736356816.888 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:16.888Z,1736356816.888 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:16.889Z,1736356816.889 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:17.143Z,1736356817.143 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:17.144Z,1736356817.144 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:17.144Z,1736356817.144 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:17.227Z,1736356817.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:17.237Z,1736356817.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:17.240Z,1736356817.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 490.097839 m,
      bearing: 273.654208 deg,
      approach rate: -0.440085 m/s,
      LOS rate: 0.002981 deg/s,
      cmd heading: 269.154177 deg,
      new cmd heading: 269.158501 deg.

2025-01-08T17:20:17.241Z,1736356817.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697702 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:17.392Z,1736356817.392 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:17.392Z,1736356817.392 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:17.392Z,1736356817.392 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:17.555Z,1736356817.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:17.562Z,1736356817.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:17.564Z,1736356817.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:17.568Z,1736356817.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 489.958923 m,
      bearing: 273.655065 deg,
      approach rate: -0.423872 m/s,
      LOS rate: 0.002617 deg/s,
      cmd heading: 269.158494 deg,
      new cmd heading: 269.161067 deg.

2025-01-08T17:20:17.569Z,1736356817.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697747 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:17.645Z,1736356817.645 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:17.645Z,1736356817.645 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:17.645Z,1736356817.645 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:17.812Z,1736356817.812 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:20:17.896Z,1736356817.896 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:17.896Z,1736356817.896 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:17.896Z,1736356817.896 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:17.969Z,1736356817.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:17.977Z,1736356817.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:17.981Z,1736356817.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 489.771545 m,
      bearing: 273.656139 deg,
      approach rate: -0.453581 m/s,
      LOS rate: 0.002600 deg/s,
      cmd heading: 269.161062 deg,
      new cmd heading: 269.164284 deg.

2025-01-08T17:20:17.982Z,1736356817.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697803 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:18.151Z,1736356818.151 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:18.151Z,1736356818.151 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:18.152Z,1736356818.152 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:18.401Z,1736356818.401 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:18.401Z,1736356818.401 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:18.401Z,1736356818.401 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:18.405Z,1736356818.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:18.413Z,1736356818.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:18.416Z,1736356818.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 489.584625 m,
      bearing: 273.656707 deg,
      approach rate: -0.429038 m/s,
      LOS rate: 0.001305 deg/s,
      cmd heading: 269.164286 deg,
      new cmd heading: 269.165992 deg.

2025-01-08T17:20:18.418Z,1736356818.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697833 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:18.652Z,1736356818.652 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:18.652Z,1736356818.652 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:18.652Z,1736356818.652 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:18.761Z,1736356818.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:18.786Z,1736356818.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:18.792Z,1736356818.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 489.431946 m,
      bearing: 273.657067 deg,
      approach rate: -0.409940 m/s,
      LOS rate: 0.000967 deg/s,
      cmd heading: 269.165980 deg,
      new cmd heading: 269.167060 deg.

2025-01-08T17:20:18.793Z,1736356818.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697852 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:18.816Z,1736356818.816 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:20:18.904Z,1736356818.904 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:18.904Z,1736356818.904 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:18.905Z,1736356818.905 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:19.164Z,1736356819.164 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:19.165Z,1736356819.165 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:19.165Z,1736356819.165 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:19.253Z,1736356819.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:19.270Z,1736356819.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:19.277Z,1736356819.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 489.207733 m,
      bearing: 273.657943 deg,
      approach rate: -0.462985 m/s,
      LOS rate: 0.001808 deg/s,
      cmd heading: 269.167073 deg,
      new cmd heading: 269.169700 deg.

2025-01-08T17:20:19.278Z,1736356819.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697897 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:19.416Z,1736356819.416 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:19.416Z,1736356819.416 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:19.416Z,1736356819.416 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:19.566Z,1736356819.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:19.573Z,1736356819.573 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:19.576Z,1736356819.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:19.578Z,1736356819.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 489.065216 m,
      bearing: 273.658484 deg,
      approach rate: -0.466222 m/s,
      LOS rate: 0.001770 deg/s,
      cmd heading: 269.169696 deg,
      new cmd heading: 269.171319 deg.

2025-01-08T17:20:19.580Z,1736356819.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697926 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:19.669Z,1736356819.669 [DAT](INFO): Reached modem response timeout
2025-01-08T17:20:19.669Z,1736356819.669 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:20:19.670Z,1736356819.670 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:20:19.920Z,1736356819.920 [DAT](INFO): Reached modem response timeout
2025-01-08T17:20:19.920Z,1736356819.920 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:20:19.920Z,1736356819.920 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:20:19.982Z,1736356819.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:19.991Z,1736356819.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:19.994Z,1736356819.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 488.875885 m,
      bearing: 273.659201 deg,
      approach rate: -0.455552 m/s,
      LOS rate: 0.001727 deg/s,
      cmd heading: 269.171307 deg,
      new cmd heading: 269.173461 deg.

2025-01-08T17:20:19.995Z,1736356819.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697963 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:20.174Z,1736356820.174 [DAT](INFO): Reached modem response timeout
2025-01-08T17:20:20.176Z,1736356820.176 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:20:20.177Z,1736356820.177 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:20:20.418Z,1736356820.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:20.427Z,1736356820.427 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:20:20.427Z,1736356820.427 [DAT](INFO): response not received
2025-01-08T17:20:20.427Z,1736356820.427 [DAT](INFO): DAT read: user:63>

2025-01-08T17:20:20.428Z,1736356820.428 [DAT](ERROR): No response from remote modem.
2025-01-08T17:20:20.428Z,1736356820.428 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:20:20.428Z,1736356820.428 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:20:20.437Z,1736356820.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:20.440Z,1736356820.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 488.649323 m,
      bearing: 273.660416 deg,
      approach rate: -0.507579 m/s,
      LOS rate: 0.002724 deg/s,
      cmd heading: 269.173466 deg,
      new cmd heading: 269.177114 deg.

2025-01-08T17:20:20.441Z,1736356820.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698027 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:20.679Z,1736356820.679 [DAT](INFO): DAT read: Tx time:17:20:19.8316

2025-01-08T17:20:20.679Z,1736356820.679 [DAT](INFO): Ping request sent.
2025-01-08T17:20:20.679Z,1736356820.679 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:20:20.680Z,1736356820.680 [DAT](INFO): DAT read: TxSync time:17:20:19.8308

2025-01-08T17:20:20.680Z,1736356820.680 [DAT](INFO): publishing transmit ping time
2025-01-08T17:20:20.681Z,1736356820.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001880
2025-01-08T17:20:20.813Z,1736356820.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:20.822Z,1736356820.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:20.826Z,1736356820.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 488.444824 m,
      bearing: 273.661564 deg,
      approach rate: -0.531967 m/s,
      LOS rate: 0.002986 deg/s,
      cmd heading: 269.177127 deg,
      new cmd heading: 269.180570 deg.

2025-01-08T17:20:20.827Z,1736356820.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698087 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:20.932Z,1736356820.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251776
2025-01-08T17:20:21.183Z,1736356821.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503396
2025-01-08T17:20:21.277Z,1736356821.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:21.307Z,1736356821.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:21.314Z,1736356821.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 488.164398 m,
      bearing: 273.663499 deg,
      approach rate: -0.578626 m/s,
      LOS rate: 0.003995 deg/s,
      cmd heading: 269.180569 deg,
      new cmd heading: 269.186378 deg.

2025-01-08T17:20:21.315Z,1736356821.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698189 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:21.433Z,1736356821.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753509
2025-01-08T17:20:21.628Z,1736356821.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:21.659Z,1736356821.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:21.661Z,1736356821.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:21.672Z,1736356821.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 487.952637 m,
      bearing: 273.665058 deg,
      approach rate: -0.596760 m/s,
      LOS rate: 0.004396 deg/s,
      cmd heading: 269.186389 deg,
      new cmd heading: 269.191068 deg.

2025-01-08T17:20:21.673Z,1736356821.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698270 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:21.685Z,1736356821.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006205
2025-01-08T17:20:21.936Z,1736356821.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257172
2025-01-08T17:20:22.012Z,1736356822.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:22.036Z,1736356822.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:22.039Z,1736356822.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 487.721527 m,
      bearing: 273.666850 deg,
      approach rate: -0.616825 m/s,
      LOS rate: 0.004784 deg/s,
      cmd heading: 269.191060 deg,
      new cmd heading: 269.196438 deg.

2025-01-08T17:20:22.044Z,1736356822.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698364 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:22.192Z,1736356822.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511793
2025-01-08T17:20:22.440Z,1736356822.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760985
2025-01-08T17:20:22.452Z,1736356822.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:22.464Z,1736356822.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:22.472Z,1736356822.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 487.422974 m,
      bearing: 273.669421 deg,
      approach rate: -0.697421 m/s,
      LOS rate: 0.006009 deg/s,
      cmd heading: 269.196443 deg,
      new cmd heading: 269.204160 deg.

2025-01-08T17:20:22.473Z,1736356822.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698499 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:22.693Z,1736356822.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013708
2025-01-08T17:20:22.822Z,1736356822.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:22.830Z,1736356822.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:22.835Z,1736356822.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 487.171753 m,
      bearing: 273.671645 deg,
      approach rate: -0.686178 m/s,
      LOS rate: 0.006079 deg/s,
      cmd heading: 269.204147 deg,
      new cmd heading: 269.210824 deg.

2025-01-08T17:20:22.836Z,1736356822.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698615 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:22.944Z,1736356822.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265351
2025-01-08T17:20:23.208Z,1736356823.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519895
2025-01-08T17:20:23.309Z,1736356823.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:23.319Z,1736356823.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:23.322Z,1736356823.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 486.815002 m,
      bearing: 273.675199 deg,
      approach rate: -0.730413 m/s,
      LOS rate: 0.007280 deg/s,
      cmd heading: 269.210813 deg,
      new cmd heading: 269.221481 deg.

2025-01-08T17:20:23.323Z,1736356823.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698801 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:23.448Z,1736356823.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769094
2025-01-08T17:20:23.639Z,1736356823.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:23.648Z,1736356823.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:23.651Z,1736356823.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 486.573364 m,
      bearing: 273.677712 deg,
      approach rate: -0.735144 m/s,
      LOS rate: 0.007649 deg/s,
      cmd heading: 269.221468 deg,
      new cmd heading: 269.229011 deg.

2025-01-08T17:20:23.653Z,1736356823.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698933 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:23.702Z,1736356823.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022737
2025-01-08T17:20:23.953Z,1736356823.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273555
2025-01-08T17:20:24.035Z,1736356824.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:24.042Z,1736356824.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:24.044Z,1736356824.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:24.047Z,1736356824.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 486.283752 m,
      bearing: 273.680842 deg,
      approach rate: -0.729725 m/s,
      LOS rate: 0.007891 deg/s,
      cmd heading: 269.229009 deg,
      new cmd heading: 269.238404 deg.

2025-01-08T17:20:24.048Z,1736356824.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699097 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:24.206Z,1736356824.206 [DAT](INFO): DAT read: Rx Time:17:20:22.8775

2025-01-08T17:20:24.207Z,1736356824.207 [DAT](INFO): Rx dataTimestamp_ set to:1736356824.206271
2025-01-08T17:20:24.207Z,1736356824.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527972
2025-01-08T17:20:24.456Z,1736356824.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777248
2025-01-08T17:20:24.490Z,1736356824.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:24.515Z,1736356824.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:24.522Z,1736356824.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 485.941772 m,
      bearing: 273.685121 deg,
      approach rate: -0.726884 m/s,
      LOS rate: 0.009102 deg/s,
      cmd heading: 269.238407 deg,
      new cmd heading: 269.251254 deg.

2025-01-08T17:20:24.523Z,1736356824.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699321 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:24.717Z,1736356824.717 [DAT](INFO): DAT read: 17:20:22.8775 LVL= 18096, 30913, 20050, 27027, AGC= 72, IDX= 370,-0.05,-1.282,-2.851,-1.353,-2.017, PHS= 0.823,-0.788, 0.661, RAW= 144.8,  -9.1, CAL= 151.3, -18.0, ROT= 358.7,  18.0

2025-01-08T17:20:24.719Z,1736356824.719 [DAT](INFO): got valid direction response:
 17:20:22.8775 LVL= 18096, 30913, 20050, 27027, AGC= 72, IDX= 370,-0.05,-1.282,-2.851,-1.353,-2.017, PHS= 0.823,-0.788, 0.661, RAW= 144.8,  -9.1, CAL= 151.3, -18.0, ROT= 358.7,  18.0

2025-01-08T17:20:24.720Z,1736356824.720 [DAT](INFO): DAT read: $Error in header

2025-01-08T17:20:24.721Z,1736356824.721 [DAT](INFO): Received a bad header
2025-01-08T17:20:24.731Z,1736356824.731 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-08T17:20:24.732Z,1736356824.732 [DAT](INFO): direction in FSK: [0.950812,-0.021577,-0.309017]
2025-01-08T17:20:24.752Z,1736356824.752 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:24.752Z,1736356824.752 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:24.753Z,1736356824.753 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:24.868Z,1736356824.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:24.881Z,1736356824.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:24.885Z,1736356824.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 485.658386 m,
      bearing: 273.688754 deg,
      approach rate: -0.773113 m/s,
      LOS rate: 0.009918 deg/s,
      cmd heading: 269.251248 deg,
      new cmd heading: 269.262155 deg.

2025-01-08T17:20:24.886Z,1736356824.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699511 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:24.960Z,1736356824.960 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:24.960Z,1736356824.960 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:24.960Z,1736356824.960 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:25.213Z,1736356825.213 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:25.213Z,1736356825.213 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:25.213Z,1736356825.213 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:25.377Z,1736356825.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:25.386Z,1736356825.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:25.389Z,1736356825.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 485.275421 m,
      bearing: 273.694214 deg,
      approach rate: -0.758467 m/s,
      LOS rate: 0.010822 deg/s,
      cmd heading: 269.262149 deg,
      new cmd heading: 269.278542 deg.

2025-01-08T17:20:25.390Z,1736356825.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699797 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:25.464Z,1736356825.464 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:25.464Z,1736356825.464 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:25.464Z,1736356825.464 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:25.716Z,1736356825.716 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:25.717Z,1736356825.717 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:25.717Z,1736356825.717 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:25.759Z,1736356825.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:25.773Z,1736356825.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:25.780Z,1736356825.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 484.991241 m,
      bearing: 273.698417 deg,
      approach rate: -0.734529 m/s,
      LOS rate: 0.010869 deg/s,
      cmd heading: 269.278541 deg,
      new cmd heading: 269.291157 deg.

2025-01-08T17:20:25.781Z,1736356825.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700017 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:25.968Z,1736356825.968 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:25.968Z,1736356825.968 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:25.968Z,1736356825.968 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:26.134Z,1736356826.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:26.141Z,1736356826.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:26.143Z,1736356826.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:26.146Z,1736356826.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 484.707275 m,
      bearing: 273.702618 deg,
      approach rate: -0.768194 m/s,
      LOS rate: 0.011373 deg/s,
      cmd heading: 269.291164 deg,
      new cmd heading: 269.303776 deg.

2025-01-08T17:20:26.147Z,1736356826.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700238 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:26.222Z,1736356826.222 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:26.222Z,1736356826.222 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:26.222Z,1736356826.222 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:26.472Z,1736356826.472 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:26.472Z,1736356826.472 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:26.472Z,1736356826.472 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:26.559Z,1736356826.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:26.571Z,1736356826.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:26.574Z,1736356826.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 484.405731 m,
      bearing: 273.707486 deg,
      approach rate: -0.704345 m/s,
      LOS rate: 0.011378 deg/s,
      cmd heading: 269.303786 deg,
      new cmd heading: 269.318399 deg.

2025-01-08T17:20:26.575Z,1736356826.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700493 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:26.725Z,1736356826.725 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:26.725Z,1736356826.725 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:26.726Z,1736356826.726 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:26.938Z,1736356826.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:26.946Z,1736356826.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:26.949Z,1736356826.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 484.137268 m,
      bearing: 273.711799 deg,
      approach rate: -0.715139 m/s,
      LOS rate: 0.011495 deg/s,
      cmd heading: 269.318402 deg,
      new cmd heading: 269.331348 deg.

2025-01-08T17:20:26.951Z,1736356826.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700719 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:26.976Z,1736356826.976 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:26.976Z,1736356826.976 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:26.976Z,1736356826.976 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:27.231Z,1736356827.231 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:27.231Z,1736356827.231 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:27.231Z,1736356827.231 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:27.385Z,1736356827.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:27.393Z,1736356827.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:27.397Z,1736356827.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 483.850769 m,
      bearing: 273.716388 deg,
      approach rate: -0.641174 m/s,
      LOS rate: 0.010277 deg/s,
      cmd heading: 269.331352 deg,
      new cmd heading: 269.345128 deg.

2025-01-08T17:20:27.398Z,1736356827.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700959 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:27.480Z,1736356827.480 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:27.480Z,1736356827.480 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:27.480Z,1736356827.480 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:27.732Z,1736356827.732 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:27.732Z,1736356827.732 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:27.732Z,1736356827.732 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:27.772Z,1736356827.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:27.780Z,1736356827.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:27.783Z,1736356827.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 483.602692 m,
      bearing: 273.720270 deg,
      approach rate: -0.640759 m/s,
      LOS rate: 0.010030 deg/s,
      cmd heading: 269.345122 deg,
      new cmd heading: 269.356772 deg.

2025-01-08T17:20:27.785Z,1736356827.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701162 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:27.985Z,1736356827.985 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:27.985Z,1736356827.985 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:27.985Z,1736356827.985 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:28.147Z,1736356828.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:28.155Z,1736356828.155 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:28.157Z,1736356828.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:28.160Z,1736356828.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 483.362061 m,
      bearing: 273.723985 deg,
      approach rate: -0.638572 m/s,
      LOS rate: 0.009865 deg/s,
      cmd heading: 269.356761 deg,
      new cmd heading: 269.367913 deg.

2025-01-08T17:20:28.161Z,1736356828.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701357 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:28.237Z,1736356828.237 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:28.237Z,1736356828.237 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:28.237Z,1736356828.237 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:28.488Z,1736356828.488 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:28.488Z,1736356828.488 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:28.488Z,1736356828.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:28.594Z,1736356828.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:28.604Z,1736356828.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:28.607Z,1736356828.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 483.102631 m,
      bearing: 273.727278 deg,
      approach rate: -0.581099 m/s,
      LOS rate: 0.007379 deg/s,
      cmd heading: 269.367908 deg,
      new cmd heading: 269.377791 deg.

2025-01-08T17:20:28.608Z,1736356828.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701530 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:28.740Z,1736356828.740 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:28.740Z,1736356828.740 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:28.741Z,1736356828.741 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:28.956Z,1736356828.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:28.980Z,1736356828.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:28.987Z,1736356828.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 482.892395 m,
      bearing: 273.729884 deg,
      approach rate: -0.558015 m/s,
      LOS rate: 0.006922 deg/s,
      cmd heading: 269.377798 deg,
      new cmd heading: 269.385621 deg.

2025-01-08T17:20:28.989Z,1736356828.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701666 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:28.992Z,1736356828.992 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:28.992Z,1736356828.992 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:28.992Z,1736356828.992 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:29.245Z,1736356829.245 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:29.245Z,1736356829.245 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:29.245Z,1736356829.245 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:29.400Z,1736356829.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:29.429Z,1736356829.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:29.437Z,1736356829.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 482.655609 m,
      bearing: 273.732213 deg,
      approach rate: -0.527621 m/s,
      LOS rate: 0.005192 deg/s,
      cmd heading: 269.385612 deg,
      new cmd heading: 269.392601 deg.

2025-01-08T17:20:29.438Z,1736356829.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701788 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:29.497Z,1736356829.497 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:29.497Z,1736356829.497 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:29.497Z,1736356829.497 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:29.748Z,1736356829.748 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:29.748Z,1736356829.748 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:29.748Z,1736356829.748 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:29.800Z,1736356829.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:29.817Z,1736356829.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:29.831Z,1736356829.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 482.445007 m,
      bearing: 273.734243 deg,
      approach rate: -0.543556 m/s,
      LOS rate: 0.005241 deg/s,
      cmd heading: 269.392606 deg,
      new cmd heading: 269.398697 deg.

2025-01-08T17:20:29.832Z,1736356829.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701894 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:30.001Z,1736356830.001 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:30.001Z,1736356830.001 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:30.001Z,1736356830.001 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:30.174Z,1736356830.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:30.181Z,1736356830.181 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:30.184Z,1736356830.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:30.187Z,1736356830.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 482.242798 m,
      bearing: 273.736140 deg,
      approach rate: -0.551560 m/s,
      LOS rate: 0.005178 deg/s,
      cmd heading: 269.398698 deg,
      new cmd heading: 269.404393 deg.

2025-01-08T17:20:30.188Z,1736356830.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701993 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:30.253Z,1736356830.253 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:30.253Z,1736356830.253 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:30.253Z,1736356830.253 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:30.504Z,1736356830.504 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:30.504Z,1736356830.504 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:30.504Z,1736356830.504 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:30.610Z,1736356830.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:30.620Z,1736356830.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:30.639Z,1736356830.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 482.017914 m,
      bearing: 273.737089 deg,
      approach rate: -0.514240 m/s,
      LOS rate: 0.002170 deg/s,
      cmd heading: 269.404381 deg,
      new cmd heading: 269.407228 deg.

2025-01-08T17:20:30.640Z,1736356830.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702043 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:30.756Z,1736356830.756 [DAT](INFO): Reached modem response timeout
2025-01-08T17:20:30.756Z,1736356830.756 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:20:30.757Z,1736356830.757 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:20:30.984Z,1736356830.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:30.993Z,1736356830.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:31.008Z,1736356831.008 [DAT](INFO): Reached modem response timeout
2025-01-08T17:20:31.008Z,1736356831.008 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:20:31.009Z,1736356831.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:20:31.016Z,1736356831.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 481.825287 m,
      bearing: 273.737806 deg,
      approach rate: -0.516965 m/s,
      LOS rate: 0.001925 deg/s,
      cmd heading: 269.407222 deg,
      new cmd heading: 269.409374 deg.

2025-01-08T17:20:31.018Z,1736356831.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702081 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:31.260Z,1736356831.260 [DAT](INFO): Reached modem response timeout
2025-01-08T17:20:31.260Z,1736356831.260 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:20:31.261Z,1736356831.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:20:31.444Z,1736356831.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:31.453Z,1736356831.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:31.456Z,1736356831.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 481.591705 m,
      bearing: 273.737833 deg,
      approach rate: -0.507856 m/s,
      LOS rate: 0.000060 deg/s,
      cmd heading: 269.409381 deg,
      new cmd heading: 269.409463 deg.

2025-01-08T17:20:31.457Z,1736356831.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702082 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:31.514Z,1736356831.514 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:20:31.514Z,1736356831.514 [DAT](INFO): response not received
2025-01-08T17:20:31.515Z,1736356831.515 [DAT](INFO): DAT read: user:65>

2025-01-08T17:20:31.516Z,1736356831.516 [DAT](INFO): DAT read: Tx time:17:20:30.7817

2025-01-08T17:20:31.516Z,1736356831.516 [DAT](INFO): Ping request sent.
2025-01-08T17:20:31.517Z,1736356831.517 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:20:31.517Z,1736356831.517 [DAT](INFO): publishing transmit ping time
2025-01-08T17:20:31.518Z,1736356831.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001099
2025-01-08T17:20:31.764Z,1736356831.764 [DAT](INFO): DAT read: TxSync time:17:20:30.7809

2025-01-08T17:20:31.765Z,1736356831.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248490
2025-01-08T17:20:31.809Z,1736356831.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:31.846Z,1736356831.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:31.849Z,1736356831.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 481.405975 m,
      bearing: 273.737855 deg,
      approach rate: -0.472672 m/s,
      LOS rate: 0.000056 deg/s,
      cmd heading: 269.409463 deg,
      new cmd heading: 269.409528 deg.

2025-01-08T17:20:31.851Z,1736356831.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702083 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:32.019Z,1736356832.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501764
2025-01-08T17:20:32.198Z,1736356832.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:32.206Z,1736356832.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:32.208Z,1736356832.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:32.212Z,1736356832.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 481.208771 m,
      bearing: 273.737902 deg,
      approach rate: -0.543950 m/s,
      LOS rate: 0.000129 deg/s,
      cmd heading: 269.409517 deg,
      new cmd heading: 269.409658 deg.

2025-01-08T17:20:32.213Z,1736356832.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702085 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:32.269Z,1736356832.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752486
2025-01-08T17:20:32.520Z,1736356832.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003697
2025-01-08T17:20:32.641Z,1736356832.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:32.650Z,1736356832.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:32.677Z,1736356832.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 480.978851 m,
      bearing: 273.737712 deg,
      approach rate: -0.521425 m/s,
      LOS rate: -0.000430 deg/s,
      cmd heading: 269.409654 deg,
      new cmd heading: 269.409085 deg.

2025-01-08T17:20:32.678Z,1736356832.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702075 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:32.773Z,1736356832.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256490
2025-01-08T17:20:33.002Z,1736356833.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:33.010Z,1736356833.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:33.013Z,1736356833.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 480.792053 m,
      bearing: 273.737545 deg,
      approach rate: -0.518068 m/s,
      LOS rate: -0.000464 deg/s,
      cmd heading: 269.409080 deg,
      new cmd heading: 269.408578 deg.

2025-01-08T17:20:33.014Z,1736356833.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702067 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:33.024Z,1736356833.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507522
2025-01-08T17:20:33.279Z,1736356833.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762530
2025-01-08T17:20:33.472Z,1736356833.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:33.489Z,1736356833.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:33.496Z,1736356833.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 480.532684 m,
      bearing: 273.737676 deg,
      approach rate: -0.541763 m/s,
      LOS rate: 0.000273 deg/s,
      cmd heading: 269.408588 deg,
      new cmd heading: 269.408980 deg.

2025-01-08T17:20:33.497Z,1736356833.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702074 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:33.531Z,1736356833.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014158
2025-01-08T17:20:33.782Z,1736356833.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265241
2025-01-08T17:20:33.812Z,1736356833.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:33.822Z,1736356833.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:33.825Z,1736356833.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 480.344971 m,
      bearing: 273.737718 deg,
      approach rate: -0.563015 m/s,
      LOS rate: 0.000125 deg/s,
      cmd heading: 269.408971 deg,
      new cmd heading: 269.409096 deg.

2025-01-08T17:20:33.826Z,1736356833.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702076 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:34.032Z,1736356834.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515635
2025-01-08T17:20:34.216Z,1736356834.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:34.224Z,1736356834.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:34.226Z,1736356834.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:34.229Z,1736356834.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 480.122864 m,
      bearing: 273.737735 deg,
      approach rate: -0.550102 m/s,
      LOS rate: 0.000042 deg/s,
      cmd heading: 269.409107 deg,
      new cmd heading: 269.409158 deg.

2025-01-08T17:20:34.230Z,1736356834.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702077 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:34.288Z,1736356834.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771491
2025-01-08T17:20:34.540Z,1736356834.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023650
2025-01-08T17:20:34.656Z,1736356834.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:34.664Z,1736356834.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:34.685Z,1736356834.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 479.864899 m,
      bearing: 273.738412 deg,
      approach rate: -0.588816 m/s,
      LOS rate: 0.001547 deg/s,
      cmd heading: 269.409162 deg,
      new cmd heading: 269.411195 deg.

2025-01-08T17:20:34.686Z,1736356834.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702112 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:34.792Z,1736356834.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275819
2025-01-08T17:20:35.044Z,1736356835.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527773
2025-01-08T17:20:35.054Z,1736356835.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:35.063Z,1736356835.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:35.067Z,1736356835.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 479.631409 m,
      bearing: 273.739026 deg,
      approach rate: -0.584885 m/s,
      LOS rate: 0.001538 deg/s,
      cmd heading: 269.411184 deg,
      new cmd heading: 269.413026 deg.

2025-01-08T17:20:35.069Z,1736356835.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702144 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:35.296Z,1736356835.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779731
2025-01-08T17:20:35.492Z,1736356835.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:35.512Z,1736356835.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:35.514Z,1736356835.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 479.356537 m,
      bearing: 273.740694 deg,
      approach rate: -0.618752 m/s,
      LOS rate: 0.003757 deg/s,
      cmd heading: 269.413014 deg,
      new cmd heading: 269.418022 deg.

2025-01-08T17:20:35.520Z,1736356835.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702231 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:35.549Z,1736356835.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032061
2025-01-08T17:20:35.801Z,1736356835.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284811
2025-01-08T17:20:35.840Z,1736356835.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:35.870Z,1736356835.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:35.877Z,1736356835.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 479.137421 m,
      bearing: 273.742081 deg,
      approach rate: -0.604775 m/s,
      LOS rate: 0.003830 deg/s,
      cmd heading: 269.418014 deg,
      new cmd heading: 269.422177 deg.

2025-01-08T17:20:35.878Z,1736356835.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702304 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:36.052Z,1736356836.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535582
2025-01-08T17:20:36.243Z,1736356836.243 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:36.251Z,1736356836.251 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:36.253Z,1736356836.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:36.256Z,1736356836.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 478.884216 m,
      bearing: 273.743751 deg,
      approach rate: -0.660596 m/s,
      LOS rate: 0.004360 deg/s,
      cmd heading: 269.422167 deg,
      new cmd heading: 269.427181 deg.

2025-01-08T17:20:36.257Z,1736356836.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702392 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:36.305Z,1736356836.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788333
2025-01-08T17:20:36.556Z,1736356836.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039692
2025-01-08T17:20:36.666Z,1736356836.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:36.703Z,1736356836.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:36.711Z,1736356836.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 478.605255 m,
      bearing: 273.746003 deg,
      approach rate: -0.621119 m/s,
      LOS rate: 0.005017 deg/s,
      cmd heading: 269.427194 deg,
      new cmd heading: 269.433953 deg.

2025-01-08T17:20:36.724Z,1736356836.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702509 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:36.809Z,1736356836.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292572
2025-01-08T17:20:37.046Z,1736356837.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:37.056Z,1736356837.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:37.058Z,1736356837.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 478.354492 m,
      bearing: 273.748110 deg,
      approach rate: -0.709779 m/s,
      LOS rate: 0.005968 deg/s,
      cmd heading: 269.433942 deg,
      new cmd heading: 269.440267 deg.

2025-01-08T17:20:37.061Z,1736356837.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544214
2025-01-08T17:20:37.062Z,1736356837.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702620 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:37.312Z,1736356837.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795703
2025-01-08T17:20:37.508Z,1736356837.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:37.541Z,1736356837.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:37.548Z,1736356837.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 478.036316 m,
      bearing: 273.751858 deg,
      approach rate: -0.654719 m/s,
      LOS rate: 0.007717 deg/s,
      cmd heading: 269.440280 deg,
      new cmd heading: 269.451532 deg.

2025-01-08T17:20:37.550Z,1736356837.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702816 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:37.564Z,1736356837.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047861
2025-01-08T17:20:37.818Z,1736356837.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301184
2025-01-08T17:20:37.909Z,1736356837.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:37.919Z,1736356837.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:37.922Z,1736356837.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 477.758453 m,
      bearing: 273.755135 deg,
      approach rate: -0.736801 m/s,
      LOS rate: 0.008695 deg/s,
      cmd heading: 269.451536 deg,
      new cmd heading: 269.461373 deg.

2025-01-08T17:20:37.923Z,1736356837.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702988 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:38.068Z,1736356838.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551757
2025-01-08T17:20:38.284Z,1736356838.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:38.291Z,1736356838.291 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:38.300Z,1736356838.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:38.303Z,1736356838.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 477.499878 m,
      bearing: 273.758312 deg,
      approach rate: -0.679009 m/s,
      LOS rate: 0.008346 deg/s,
      cmd heading: 269.461372 deg,
      new cmd heading: 269.470906 deg.

2025-01-08T17:20:38.304Z,1736356838.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703155 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:38.322Z,1736356838.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805041
2025-01-08T17:20:38.572Z,1736356838.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055649
2025-01-08T17:20:38.742Z,1736356838.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:38.771Z,1736356838.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:38.784Z,1736356838.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 477.175476 m,
      bearing: 273.762773 deg,
      approach rate: -0.688557 m/s,
      LOS rate: 0.009476 deg/s,
      cmd heading: 269.470907 deg,
      new cmd heading: 269.484301 deg.

2025-01-08T17:20:38.787Z,1736356838.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703388 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:38.825Z,1736356838.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308204
2025-01-08T17:20:39.077Z,1736356839.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560059
2025-01-08T17:20:39.241Z,1736356839.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:39.251Z,1736356839.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:39.254Z,1736356839.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 476.821686 m,
      bearing: 273.767718 deg,
      approach rate: -0.737152 m/s,
      LOS rate: 0.010311 deg/s,
      cmd heading: 269.484294 deg,
      new cmd heading: 269.499140 deg.

2025-01-08T17:20:39.255Z,1736356839.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703647 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:39.329Z,1736356839.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811923
2025-01-08T17:20:39.580Z,1736356839.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063684
2025-01-08T17:20:39.675Z,1736356839.675 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:39.684Z,1736356839.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:39.703Z,1736356839.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 476.512146 m,
      bearing: 273.771710 deg,
      approach rate: -0.713380 m/s,
      LOS rate: 0.009205 deg/s,
      cmd heading: 269.499129 deg,
      new cmd heading: 269.511112 deg.

2025-01-08T17:20:39.705Z,1736356839.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703856 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:39.832Z,1736356839.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315700
2025-01-08T17:20:40.048Z,1736356840.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:40.077Z,1736356840.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:40.084Z,1736356840.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567806
2025-01-08T17:20:40.090Z,1736356840.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 476.246277 m,
      bearing: 273.775157 deg,
      approach rate: -0.688505 m/s,
      LOS rate: 0.008931 deg/s,
      cmd heading: 269.511123 deg,
      new cmd heading: 269.521469 deg.

2025-01-08T17:20:40.096Z,1736356840.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704037 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:40.337Z,1736356840.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820354
2025-01-08T17:20:40.524Z,1736356840.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:40.546Z,1736356840.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:40.549Z,1736356840.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:40.552Z,1736356840.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 475.907318 m,
      bearing: 273.779556 deg,
      approach rate: -0.708872 m/s,
      LOS rate: 0.009207 deg/s,
      cmd heading: 269.521478 deg,
      new cmd heading: 269.534685 deg.

2025-01-08T17:20:40.553Z,1736356840.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704268 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:40.588Z,1736356840.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071846
2025-01-08T17:20:40.840Z,1736356840.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323729
2025-01-08T17:20:40.884Z,1736356840.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:40.893Z,1736356840.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:40.896Z,1736356840.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 475.656281 m,
      bearing: 273.782268 deg,
      approach rate: -0.729040 m/s,
      LOS rate: 0.007880 deg/s,
      cmd heading: 269.534674 deg,
      new cmd heading: 269.542814 deg.

2025-01-08T17:20:40.897Z,1736356840.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704410 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:41.094Z,1736356841.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577055
2025-01-08T17:20:41.257Z,1736356841.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:41.265Z,1736356841.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:41.270Z,1736356841.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 475.397644 m,
      bearing: 273.785088 deg,
      approach rate: -0.694613 m/s,
      LOS rate: 0.007576 deg/s,
      cmd heading: 269.542815 deg,
      new cmd heading: 269.551278 deg.

2025-01-08T17:20:41.271Z,1736356841.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704557 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:41.346Z,1736356841.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829746
2025-01-08T17:20:41.601Z,1736356841.601 [DAT](INFO): Reached modem response timeout
2025-01-08T17:20:41.601Z,1736356841.601 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:20:41.601Z,1736356841.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:20:41.714Z,1736356841.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:41.730Z,1736356841.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:41.734Z,1736356841.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 475.098999 m,
      bearing: 273.788909 deg,
      approach rate: -0.642366 m/s,
      LOS rate: 0.008224 deg/s,
      cmd heading: 269.551285 deg,
      new cmd heading: 269.562756 deg.

2025-01-08T17:20:41.751Z,1736356841.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704758 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:41.852Z,1736356841.852 [DAT](INFO): Reached modem response timeout
2025-01-08T17:20:41.852Z,1736356841.852 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:20:41.852Z,1736356841.852 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:20:42.076Z,1736356842.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:42.085Z,1736356842.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:42.088Z,1736356842.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 474.862000 m,
      bearing: 273.792006 deg,
      approach rate: -0.667544 m/s,
      LOS rate: 0.008728 deg/s,
      cmd heading: 269.562759 deg,
      new cmd heading: 269.572056 deg.

2025-01-08T17:20:42.089Z,1736356842.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704920 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:42.104Z,1736356842.104 [DAT](INFO): Reached modem response timeout
2025-01-08T17:20:42.104Z,1736356842.104 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:20:42.105Z,1736356842.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:20:42.356Z,1736356842.356 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:20:42.357Z,1736356842.357 [DAT](INFO): response not received
2025-01-08T17:20:42.357Z,1736356842.357 [DAT](INFO): DAT read: user:66>

2025-01-08T17:20:42.357Z,1736356842.357 [DAT](ERROR): No response from remote modem.
2025-01-08T17:20:42.357Z,1736356842.358 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:20:42.358Z,1736356842.358 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:20:42.500Z,1736356842.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:42.554Z,1736356842.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:42.561Z,1736356842.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:42.582Z,1736356842.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 474.588043 m,
      bearing: 273.795595 deg,
      approach rate: -0.577262 m/s,
      LOS rate: 0.007567 deg/s,
      cmd heading: 269.572048 deg,
      new cmd heading: 269.582821 deg.

2025-01-08T17:20:42.592Z,1736356842.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705108 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:42.611Z,1736356842.611 [DAT](INFO): DAT read: Tx time:17:20:41.7318

2025-01-08T17:20:42.612Z,1736356842.612 [DAT](INFO): Ping request sent.
2025-01-08T17:20:42.612Z,1736356842.612 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:20:42.614Z,1736356842.614 [DAT](INFO): DAT read: TxSync time:17:20:41.7310

2025-01-08T17:20:42.615Z,1736356842.615 [DAT](INFO): publishing transmit ping time
2025-01-08T17:20:42.618Z,1736356842.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006101
2025-01-08T17:20:42.860Z,1736356842.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248276
2025-01-08T17:20:42.942Z,1736356842.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:42.953Z,1736356842.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:42.955Z,1736356842.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 474.314178 m,
      bearing: 273.798668 deg,
      approach rate: -0.697538 m/s,
      LOS rate: 0.007830 deg/s,
      cmd heading: 269.582813 deg,
      new cmd heading: 269.592036 deg.

2025-01-08T17:20:42.956Z,1736356842.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705269 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:43.112Z,1736356843.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500327
2025-01-08T17:20:43.328Z,1736356843.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:43.342Z,1736356843.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:43.345Z,1736356843.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 474.078766 m,
      bearing: 273.801361 deg,
      approach rate: -0.603803 m/s,
      LOS rate: 0.006912 deg/s,
      cmd heading: 269.592047 deg,
      new cmd heading: 269.600132 deg.

2025-01-08T17:20:43.346Z,1736356843.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705410 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:43.364Z,1736356843.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752275
2025-01-08T17:20:43.618Z,1736356843.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005992
2025-01-08T17:20:43.753Z,1736356843.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:43.781Z,1736356843.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:43.792Z,1736356843.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 473.840363 m,
      bearing: 273.804375 deg,
      approach rate: -0.543322 m/s,
      LOS rate: 0.006872 deg/s,
      cmd heading: 269.600134 deg,
      new cmd heading: 269.609180 deg.

2025-01-08T17:20:43.793Z,1736356843.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705568 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:43.869Z,1736356843.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257275
2025-01-08T17:20:44.115Z,1736356844.115 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:44.121Z,1736356844.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508661
2025-01-08T17:20:44.148Z,1736356844.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:44.171Z,1736356844.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 473.637512 m,
      bearing: 273.806899 deg,
      approach rate: -0.552459 m/s,
      LOS rate: 0.006876 deg/s,
      cmd heading: 269.609177 deg,
      new cmd heading: 269.616752 deg.

2025-01-08T17:20:44.172Z,1736356844.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705700 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:44.373Z,1736356844.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760740
2025-01-08T17:20:44.589Z,1736356844.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:44.598Z,1736356844.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:44.614Z,1736356844.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:44.621Z,1736356844.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 473.372223 m,
      bearing: 273.810083 deg,
      approach rate: -0.570361 m/s,
      LOS rate: 0.006849 deg/s,
      cmd heading: 269.616745 deg,
      new cmd heading: 269.626302 deg.

2025-01-08T17:20:44.622Z,1736356844.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705867 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:44.624Z,1736356844.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012463
2025-01-08T17:20:44.877Z,1736356844.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264568
2025-01-08T17:20:44.962Z,1736356844.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:44.972Z,1736356844.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:44.975Z,1736356844.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 473.180603 m,
      bearing: 273.811729 deg,
      approach rate: -0.534457 m/s,
      LOS rate: 0.004594 deg/s,
      cmd heading: 269.626307 deg,
      new cmd heading: 269.631249 deg.

2025-01-08T17:20:44.976Z,1736356844.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705953 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:45.128Z,1736356845.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516264
2025-01-08T17:20:45.339Z,1736356845.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:45.365Z,1736356845.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:45.372Z,1736356845.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 472.991211 m,
      bearing: 273.813316 deg,
      approach rate: -0.504397 m/s,
      LOS rate: 0.004229 deg/s,
      cmd heading: 269.631252 deg,
      new cmd heading: 269.636016 deg.

2025-01-08T17:20:45.373Z,1736356845.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706036 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:45.380Z,1736356845.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768350
2025-01-08T17:20:45.632Z,1736356845.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020509
2025-01-08T17:20:45.802Z,1736356845.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:45.810Z,1736356845.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:45.813Z,1736356845.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 472.758606 m,
      bearing: 273.815316 deg,
      approach rate: -0.502784 m/s,
      LOS rate: 0.004324 deg/s,
      cmd heading: 269.636006 deg,
      new cmd heading: 269.642008 deg.

2025-01-08T17:20:45.814Z,1736356845.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706141 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:45.886Z,1736356845.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273611
2025-01-08T17:20:46.136Z,1736356846.136 [DAT](INFO): DAT read: Rx Time:17:20:44.7708

2025-01-08T17:20:46.137Z,1736356846.137 [DAT](INFO): Rx dataTimestamp_ set to:1736356846.136528
2025-01-08T17:20:46.137Z,1736356846.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525438
2025-01-08T17:20:46.145Z,1736356846.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:46.154Z,1736356846.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:46.157Z,1736356846.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 472.589142 m,
      bearing: 273.816691 deg,
      approach rate: -0.492313 m/s,
      LOS rate: 0.003995 deg/s,
      cmd heading: 269.642017 deg,
      new cmd heading: 269.646143 deg.

2025-01-08T17:20:46.158Z,1736356846.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706213 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:46.389Z,1736356846.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777146
2025-01-08T17:20:46.617Z,1736356846.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:46.634Z,1736356846.634 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:46.646Z,1736356846.646 [DAT](INFO): DAT read: 17:20:44.7708 LVL= 17328, 25073, 14962, 25459, AGC= 73, IDX= 354,-0.06,-2.484, 2.514,-2.550,-2.989, PHS= 0.593,-0.733, 0.436, RAW= 143.8,  -4.8, CAL= 149.2, -13.9, ROT=   0.8,  13.9

2025-01-08T17:20:46.647Z,1736356846.647 [DAT](INFO): got valid direction response:
 17:20:44.7708 LVL= 17328, 25073, 14962, 25459, AGC= 73, IDX= 354,-0.06,-2.484, 2.514,-2.550,-2.989, PHS= 0.593,-0.733, 0.436, RAW= 143.8,  -4.8, CAL= 149.2, -13.9, ROT=   0.8,  13.9

2025-01-08T17:20:46.648Z,1736356846.648 [DAT](INFO): DAT read: $Error in header

2025-01-08T17:20:46.648Z,1736356846.648 [DAT](INFO): Received a bad header
2025-01-08T17:20:46.650Z,1736356846.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:46.657Z,1736356846.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 472.355591 m,
      bearing: 273.818528 deg,
      approach rate: -0.470964 m/s,
      LOS rate: 0.003708 deg/s,
      cmd heading: 269.646142 deg,
      new cmd heading: 269.651658 deg.

2025-01-08T17:20:46.658Z,1736356846.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706309 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:46.662Z,1736356846.662 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-08T17:20:46.674Z,1736356846.674 [DAT](INFO): direction in FSK: [0.970622,0.013553,-0.240228]
2025-01-08T17:20:46.697Z,1736356846.697 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:46.698Z,1736356846.698 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:46.698Z,1736356846.698 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:46.892Z,1736356846.892 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:46.892Z,1736356846.892 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:46.892Z,1736356846.892 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:47.019Z,1736356847.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:47.028Z,1736356847.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:47.030Z,1736356847.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 472.157166 m,
      bearing: 273.819562 deg,
      approach rate: -0.525588 m/s,
      LOS rate: 0.002739 deg/s,
      cmd heading: 269.651661 deg,
      new cmd heading: 269.654763 deg.

2025-01-08T17:20:47.048Z,1736356847.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706364 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:47.145Z,1736356847.145 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:47.145Z,1736356847.145 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:47.145Z,1736356847.145 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:47.396Z,1736356847.396 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:47.396Z,1736356847.396 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:47.396Z,1736356847.396 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:47.399Z,1736356847.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:47.410Z,1736356847.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:47.413Z,1736356847.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 471.969513 m,
      bearing: 273.820517 deg,
      approach rate: -0.490820 m/s,
      LOS rate: 0.002498 deg/s,
      cmd heading: 269.654776 deg,
      new cmd heading: 269.657641 deg.

2025-01-08T17:20:47.414Z,1736356847.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706414 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:47.648Z,1736356847.648 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:47.649Z,1736356847.649 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:47.649Z,1736356847.649 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:47.842Z,1736356847.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:47.872Z,1736356847.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:47.875Z,1736356847.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 471.743561 m,
      bearing: 273.821495 deg,
      approach rate: -0.488831 m/s,
      LOS rate: 0.002119 deg/s,
      cmd heading: 269.657644 deg,
      new cmd heading: 269.660582 deg.

2025-01-08T17:20:47.876Z,1736356847.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706465 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:47.931Z,1736356847.931 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:47.932Z,1736356847.932 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:47.932Z,1736356847.932 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:48.180Z,1736356848.180 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:48.180Z,1736356848.180 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:48.180Z,1736356848.180 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:48.208Z,1736356848.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:48.226Z,1736356848.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:48.233Z,1736356848.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 471.557220 m,
      bearing: 273.822297 deg,
      approach rate: -0.527531 m/s,
      LOS rate: 0.002270 deg/s,
      cmd heading: 269.660595 deg,
      new cmd heading: 269.663001 deg.

2025-01-08T17:20:48.234Z,1736356848.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706507 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:48.433Z,1736356848.433 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:48.433Z,1736356848.433 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:48.434Z,1736356848.434 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:48.684Z,1736356848.684 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:48.684Z,1736356848.684 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:48.684Z,1736356848.684 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:48.706Z,1736356848.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:48.742Z,1736356848.742 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:48.748Z,1736356848.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:48.756Z,1736356848.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 471.273468 m,
      bearing: 273.823604 deg,
      approach rate: -0.543088 m/s,
      LOS rate: 0.002503 deg/s,
      cmd heading: 269.662999 deg,
      new cmd heading: 269.666922 deg.

2025-01-08T17:20:48.757Z,1736356848.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706576 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:48.936Z,1736356848.936 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:48.937Z,1736356848.937 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:48.937Z,1736356848.937 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:48.954Z,1736356848.954 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:20:49.061Z,1736356849.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:49.071Z,1736356849.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:49.074Z,1736356849.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 471.070557 m,
      bearing: 273.824548 deg,
      approach rate: -0.628999 m/s,
      LOS rate: 0.002927 deg/s,
      cmd heading: 269.666933 deg,
      new cmd heading: 269.669766 deg.

2025-01-08T17:20:49.075Z,1736356849.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706625 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:49.189Z,1736356849.189 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:49.189Z,1736356849.189 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:49.189Z,1736356849.189 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:49.440Z,1736356849.440 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:49.440Z,1736356849.440 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:49.440Z,1736356849.440 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:49.492Z,1736356849.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:49.501Z,1736356849.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:49.504Z,1736356849.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 470.824677 m,
      bearing: 273.825700 deg,
      approach rate: -0.571074 m/s,
      LOS rate: 0.002678 deg/s,
      cmd heading: 269.669775 deg,
      new cmd heading: 269.673233 deg.

2025-01-08T17:20:49.505Z,1736356849.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706686 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:49.693Z,1736356849.693 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:49.693Z,1736356849.693 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:49.693Z,1736356849.693 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:49.888Z,1736356849.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:49.897Z,1736356849.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:49.920Z,1736356849.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 470.580536 m,
      bearing: 273.827377 deg,
      approach rate: -0.616707 m/s,
      LOS rate: 0.004238 deg/s,
      cmd heading: 269.673244 deg,
      new cmd heading: 269.678277 deg.

2025-01-08T17:20:49.921Z,1736356849.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706774 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:49.944Z,1736356849.944 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:49.944Z,1736356849.944 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:49.944Z,1736356849.944 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:49.956Z,1736356849.956 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:20:50.196Z,1736356850.196 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:50.196Z,1736356850.196 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:50.196Z,1736356850.196 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:50.283Z,1736356850.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:50.292Z,1736356850.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:50.295Z,1736356850.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 470.337463 m,
      bearing: 273.829062 deg,
      approach rate: -0.615440 m/s,
      LOS rate: 0.004269 deg/s,
      cmd heading: 269.678271 deg,
      new cmd heading: 269.683329 deg.

2025-01-08T17:20:50.297Z,1736356850.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706862 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:50.448Z,1736356850.448 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:50.448Z,1736356850.448 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:50.448Z,1736356850.448 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:50.702Z,1736356850.702 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:50.702Z,1736356850.702 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:50.702Z,1736356850.702 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:50.774Z,1736356850.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:50.781Z,1736356850.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:50.785Z,1736356850.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:50.787Z,1736356850.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 470.001282 m,
      bearing: 273.830982 deg,
      approach rate: -0.682591 m/s,
      LOS rate: 0.003902 deg/s,
      cmd heading: 269.683326 deg,
      new cmd heading: 269.689092 deg.

2025-01-08T17:20:50.789Z,1736356850.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706963 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:50.959Z,1736356850.959 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:50.959Z,1736356850.959 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:50.959Z,1736356850.959 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:51.079Z,1736356851.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:51.089Z,1736356851.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:51.112Z,1736356851.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 469.793335 m,
      bearing: 273.832201 deg,
      approach rate: -0.683491 m/s,
      LOS rate: 0.004005 deg/s,
      cmd heading: 269.689090 deg,
      new cmd heading: 269.692746 deg.

2025-01-08T17:20:51.113Z,1736356851.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707026 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:51.212Z,1736356851.212 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:51.213Z,1736356851.213 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:51.213Z,1736356851.213 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:51.464Z,1736356851.464 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:51.464Z,1736356851.464 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:51.464Z,1736356851.464 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:51.509Z,1736356851.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:51.518Z,1736356851.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:51.521Z,1736356851.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 469.499695 m,
      bearing: 273.833942 deg,
      approach rate: -0.683838 m/s,
      LOS rate: 0.004058 deg/s,
      cmd heading: 269.692751 deg,
      new cmd heading: 269.697979 deg.

2025-01-08T17:20:51.522Z,1736356851.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707118 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:51.719Z,1736356851.719 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:51.719Z,1736356851.719 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:51.719Z,1736356851.719 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:51.917Z,1736356851.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:51.946Z,1736356851.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:51.953Z,1736356851.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 469.208191 m,
      bearing: 273.836096 deg,
      approach rate: -0.681761 m/s,
      LOS rate: 0.005041 deg/s,
      cmd heading: 269.697970 deg,
      new cmd heading: 269.704436 deg.

2025-01-08T17:20:51.954Z,1736356851.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707231 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:51.968Z,1736356851.968 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:51.968Z,1736356851.968 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:51.969Z,1736356851.969 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:52.220Z,1736356852.220 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:52.220Z,1736356852.220 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:52.220Z,1736356852.220 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:52.303Z,1736356852.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:52.323Z,1736356852.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:52.329Z,1736356852.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 468.933014 m,
      bearing: 273.838175 deg,
      approach rate: -0.730253 m/s,
      LOS rate: 0.005519 deg/s,
      cmd heading: 269.704445 deg,
      new cmd heading: 269.710684 deg.

2025-01-08T17:20:52.333Z,1736356852.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707339 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:52.472Z,1736356852.472 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:52.472Z,1736356852.472 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:52.472Z,1736356852.472 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:20:52.724Z,1736356852.724 [DAT](INFO): Reached modem response timeout
2025-01-08T17:20:52.725Z,1736356852.725 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:20:52.725Z,1736356852.725 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:20:52.753Z,1736356852.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:52.782Z,1736356852.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:52.790Z,1736356852.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 468.597107 m,
      bearing: 273.840760 deg,
      approach rate: -0.731178 m/s,
      LOS rate: 0.005632 deg/s,
      cmd heading: 269.710674 deg,
      new cmd heading: 269.718435 deg.

2025-01-08T17:20:52.791Z,1736356852.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707475 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:52.976Z,1736356852.976 [DAT](INFO): Reached modem response timeout
2025-01-08T17:20:52.976Z,1736356852.976 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:20:52.976Z,1736356852.976 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:20:53.121Z,1736356853.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:53.136Z,1736356853.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:53.138Z,1736356853.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:53.165Z,1736356853.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 468.322327 m,
      bearing: 273.842933 deg,
      approach rate: -0.771621 m/s,
      LOS rate: 0.006105 deg/s,
      cmd heading: 269.718433 deg,
      new cmd heading: 269.724955 deg.

2025-01-08T17:20:53.179Z,1736356853.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707589 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:53.228Z,1736356853.228 [DAT](INFO): Reached modem response timeout
2025-01-08T17:20:53.228Z,1736356853.228 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:20:53.229Z,1736356853.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:20:53.480Z,1736356853.480 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:20:53.481Z,1736356853.481 [DAT](INFO): response not received
2025-01-08T17:20:53.481Z,1736356853.481 [DAT](INFO): DAT read: user:68>

2025-01-08T17:20:53.482Z,1736356853.482 [DAT](INFO): DAT read: Tx time:17:20:52.6819

2025-01-08T17:20:53.482Z,1736356853.482 [DAT](INFO): Ping request sent.
2025-01-08T17:20:53.482Z,1736356853.482 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:20:53.483Z,1736356853.483 [DAT](INFO): publishing transmit ping time
2025-01-08T17:20:53.484Z,1736356853.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001927
2025-01-08T17:20:53.555Z,1736356853.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:53.581Z,1736356853.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:53.588Z,1736356853.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 468.001831 m,
      bearing: 273.845529 deg,
      approach rate: -0.724431 m/s,
      LOS rate: 0.005872 deg/s,
      cmd heading: 269.724963 deg,
      new cmd heading: 269.732756 deg.

2025-01-08T17:20:53.592Z,1736356853.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707725 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:53.733Z,1736356853.733 [DAT](INFO): DAT read: TxSync time:17:20:52.6811

2025-01-08T17:20:53.733Z,1736356853.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251217
2025-01-08T17:20:53.948Z,1736356853.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:53.957Z,1736356853.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:53.960Z,1736356853.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 467.706482 m,
      bearing: 273.847890 deg,
      approach rate: -0.783819 m/s,
      LOS rate: 0.006270 deg/s,
      cmd heading: 269.732749 deg,
      new cmd heading: 269.739836 deg.

2025-01-08T17:20:53.961Z,1736356853.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707848 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:53.984Z,1736356853.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502387
2025-01-08T17:20:54.236Z,1736356854.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754106
2025-01-08T17:20:54.316Z,1736356854.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:54.325Z,1736356854.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:54.328Z,1736356854.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 467.433594 m,
      bearing: 273.850131 deg,
      approach rate: -0.742967 m/s,
      LOS rate: 0.006104 deg/s,
      cmd heading: 269.739825 deg,
      new cmd heading: 269.746551 deg.

2025-01-08T17:20:54.329Z,1736356854.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707965 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:54.491Z,1736356854.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009373
2025-01-08T17:20:54.742Z,1736356854.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260396
2025-01-08T17:20:54.810Z,1736356854.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:54.839Z,1736356854.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:54.842Z,1736356854.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 467.077759 m,
      bearing: 273.853622 deg,
      approach rate: -0.697096 m/s,
      LOS rate: 0.006844 deg/s,
      cmd heading: 269.746546 deg,
      new cmd heading: 269.757027 deg.

2025-01-08T17:20:54.844Z,1736356854.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708148 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:54.996Z,1736356854.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514128
2025-01-08T17:20:55.170Z,1736356855.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:55.177Z,1736356855.177 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:55.179Z,1736356855.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:55.198Z,1736356855.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 466.818817 m,
      bearing: 273.856176 deg,
      approach rate: -0.753469 m/s,
      LOS rate: 0.007436 deg/s,
      cmd heading: 269.757037 deg,
      new cmd heading: 269.764703 deg.

2025-01-08T17:20:55.199Z,1736356855.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708282 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:55.249Z,1736356855.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766412
2025-01-08T17:20:55.501Z,1736356855.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018785
2025-01-08T17:20:55.590Z,1736356855.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:55.607Z,1736356855.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:55.614Z,1736356855.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 466.516510 m,
      bearing: 273.859257 deg,
      approach rate: -0.706219 m/s,
      LOS rate: 0.007203 deg/s,
      cmd heading: 269.764714 deg,
      new cmd heading: 269.773964 deg.

2025-01-08T17:20:55.615Z,1736356855.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708444 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:55.754Z,1736356855.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271804
2025-01-08T17:20:56.004Z,1736356856.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522287
2025-01-08T17:20:56.025Z,1736356856.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:56.053Z,1736356856.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:56.062Z,1736356856.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 466.226074 m,
      bearing: 273.862815 deg,
      approach rate: -0.650899 m/s,
      LOS rate: 0.007978 deg/s,
      cmd heading: 269.773976 deg,
      new cmd heading: 269.784656 deg.

2025-01-08T17:20:56.063Z,1736356856.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708631 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:56.256Z,1736356856.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774212
2025-01-08T17:20:56.493Z,1736356856.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:56.508Z,1736356856.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026127
2025-01-08T17:20:56.526Z,1736356856.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:56.529Z,1736356856.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 465.913330 m,
      bearing: 273.866722 deg,
      approach rate: -0.661119 m/s,
      LOS rate: 0.008265 deg/s,
      cmd heading: 269.784658 deg,
      new cmd heading: 269.796389 deg.

2025-01-08T17:20:56.530Z,1736356856.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708835 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:56.765Z,1736356856.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282553
2025-01-08T17:20:56.856Z,1736356856.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:56.864Z,1736356856.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:56.884Z,1736356856.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 465.697998 m,
      bearing: 273.869946 deg,
      approach rate: -0.636380 m/s,
      LOS rate: 0.009531 deg/s,
      cmd heading: 269.796379 deg,
      new cmd heading: 269.806054 deg.

2025-01-08T17:20:56.885Z,1736356856.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709004 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:57.012Z,1736356857.012 [DAT](INFO): DAT read: Rx Time:17:20:55.7014

2025-01-08T17:20:57.013Z,1736356857.013 [DAT](INFO): Rx dataTimestamp_ set to:1736356857.012554
2025-01-08T17:20:57.013Z,1736356857.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531297
2025-01-08T17:20:57.226Z,1736356857.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:57.234Z,1736356857.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:57.236Z,1736356857.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 504.30 m.
2025-01-08T17:20:57.243Z,1736356857.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 504.299988 m,
      nav range: 465.478607 m,
      bearing: 273.873227 deg,
      approach rate: -0.589711 m/s,
      LOS rate: 0.008825 deg/s,
      cmd heading: 269.806051 deg,
      new cmd heading: 269.815900 deg.

2025-01-08T17:20:57.245Z,1736356857.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709176 target range: 504.299988 and range: 504.30 m.
2025-01-08T17:20:57.264Z,1736356857.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782249
2025-01-08T17:20:57.523Z,1736356857.523 [DAT](INFO): DAT read: 17:20:55.7014 LVL= 21136, 22833, 17442, 31539, AGC= 70, IDX= 266,-0.17, 1.946, 0.631, 1.818, 1.419, PHS= 0.615,-0.741, 0.396, RAW= 141.3,  -4.3, CAL= 146.8, -13.6, ROT=   3.2,  13.6

2025-01-08T17:20:57.524Z,1736356857.524 [DAT](INFO): got valid direction response:
 17:20:55.7014 LVL= 21136, 22833, 17442, 31539, AGC= 70, IDX= 266,-0.17, 1.946, 0.631, 1.818, 1.419, PHS= 0.615,-0.741, 0.396, RAW= 141.3,  -4.3, CAL= 146.8, -13.6, ROT=   3.2,  13.6

2025-01-08T17:20:57.525Z,1736356857.525 [DAT](INFO): DAT read: Bearing   3.2,  13.6 (Local)

2025-01-08T17:20:57.525Z,1736356857.525 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.2,  13.6 (Local)

2025-01-08T17:20:57.537Z,1736356857.537 [DAT](INFO): DAT read: Range 10 to 50 : 461.5 m  (Round-trip  615.4 ms) speed  0.4 m/s

2025-01-08T17:20:57.537Z,1736356857.537 [DAT](INFO): DAT read: user:69>

2025-01-08T17:20:57.538Z,1736356857.538 [DAT](INFO): DAT read: Tx time:17:20:56.7819

2025-01-08T17:20:57.538Z,1736356857.538 [DAT](INFO): Ping request sent.
2025-01-08T17:20:57.538Z,1736356857.538 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:20:57.539Z,1736356857.539 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:20:57.540Z,1736356857.540 [DAT](INFO): direction in FSK: [0.970445,0.054256,-0.235142]
2025-01-08T17:20:57.540Z,1736356857.540 [DAT](INFO): publishing transmit ping time
2025-01-08T17:20:57.540Z,1736356857.540 [DAT](INFO): publishing direction and range info
2025-01-08T17:20:57.560Z,1736356857.560 [DAT](INFO): publishing transmit ping time
2025-01-08T17:20:57.560Z,1736356857.560 [DAT](INFO): publishing direction and range info
2025-01-08T17:20:57.645Z,1736356857.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:57.687Z,1736356857.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 461.500000 m,
      deltaT: 69.892625 s,
      deltaX: -42.799988 m,
      approachRate: -0.612368 m/s,
      rangeRepo size: 4

2025-01-08T17:20:57.702Z,1736356857.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 461.500000 m,
      bearing: 273.524589 deg,
      lat: 36.904333 deg,
      lon: -122.119168 deg,
      deltaT: 69.892625 s,
      deltaX: -42.799988 m,
      approachRate: -0.612368 m/s,
      posRepo size: 4

2025-01-08T17:20:57.710Z,1736356857.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.50 m.
2025-01-08T17:20:57.735Z,1736356857.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.500000 m,
      nav range: 462.330322 m,
      bearing: 273.901227 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008825 deg/s,
      cmd heading: 269.815913 deg,
      new cmd heading: 269.827815 deg.

2025-01-08T17:20:57.749Z,1736356857.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709384 target range: 461.500000 and range: 461.50 m.
2025-01-08T17:20:57.768Z,1736356857.768 [DAT](INFO): DAT read: TxSync time:17:20:56.7811

2025-01-08T17:20:58.057Z,1736356858.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:58.065Z,1736356858.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.50 m.
2025-01-08T17:20:58.069Z,1736356858.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.500000 m,
      nav range: 462.113861 m,
      bearing: 273.904555 deg,
      approach rate: -0.570952 m/s,
      LOS rate: 0.008783 deg/s,
      cmd heading: 269.827825 deg,
      new cmd heading: 269.837815 deg.

2025-01-08T17:20:58.070Z,1736356858.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709558 target range: 461.500000 and range: 461.50 m.
2025-01-08T17:20:58.437Z,1736356858.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:58.445Z,1736356858.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.50 m.
2025-01-08T17:20:58.448Z,1736356858.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.500000 m,
      nav range: 461.914215 m,
      bearing: 273.907632 deg,
      approach rate: -0.524979 m/s,
      LOS rate: 0.008094 deg/s,
      cmd heading: 269.837825 deg,
      new cmd heading: 269.847059 deg.

2025-01-08T17:20:58.450Z,1736356858.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709720 target range: 461.500000 and range: 461.50 m.
2025-01-08T17:20:58.873Z,1736356858.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:58.882Z,1736356858.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.50 m.
2025-01-08T17:20:58.885Z,1736356858.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.500000 m,
      nav range: 461.706573 m,
      bearing: 273.910519 deg,
      approach rate: -0.475822 m/s,
      LOS rate: 0.006620 deg/s,
      cmd heading: 269.847059 deg,
      new cmd heading: 269.855726 deg.

2025-01-08T17:20:58.886Z,1736356858.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709871 target range: 461.500000 and range: 461.50 m.
2025-01-08T17:20:59.273Z,1736356859.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:59.298Z,1736356859.298 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:20:59.301Z,1736356859.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.50 m.
2025-01-08T17:20:59.304Z,1736356859.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.500000 m,
      nav range: 461.516388 m,
      bearing: 273.913059 deg,
      approach rate: -0.453890 m/s,
      LOS rate: 0.006063 deg/s,
      cmd heading: 269.855720 deg,
      new cmd heading: 269.863342 deg.

2025-01-08T17:20:59.305Z,1736356859.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710004 target range: 461.500000 and range: 461.50 m.
2025-01-08T17:20:59.532Z,1736356859.532 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:20:59.533Z,1736356859.533 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:20:59.533Z,1736356859.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:20:59.638Z,1736356859.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:20:59.647Z,1736356859.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.50 m.
2025-01-08T17:20:59.651Z,1736356859.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.500000 m,
      nav range: 461.342621 m,
      bearing: 273.915266 deg,
      approach rate: -0.502220 m/s,
      LOS rate: 0.006382 deg/s,
      cmd heading: 269.863342 deg,
      new cmd heading: 269.869967 deg.

2025-01-08T17:20:59.672Z,1736356859.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710119 target range: 461.500000 and range: 461.50 m.
2025-01-08T17:20:59.789Z,1736356859.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249783
2025-01-08T17:21:00.036Z,1736356860.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497953
2025-01-08T17:21:00.077Z,1736356860.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:00.093Z,1736356860.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.50 m.
2025-01-08T17:21:00.100Z,1736356860.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.500000 m,
      nav range: 461.144928 m,
      bearing: 273.917432 deg,
      approach rate: -0.443002 m/s,
      LOS rate: 0.004854 deg/s,
      cmd heading: 269.869954 deg,
      new cmd heading: 269.876452 deg.

2025-01-08T17:21:00.102Z,1736356860.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710233 target range: 461.500000 and range: 461.50 m.
2025-01-08T17:21:00.288Z,1736356860.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749769
2025-01-08T17:21:00.446Z,1736356860.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:00.455Z,1736356860.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.50 m.
2025-01-08T17:21:00.458Z,1736356860.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.500000 m,
      nav range: 460.978577 m,
      bearing: 273.919140 deg,
      approach rate: -0.459852 m/s,
      LOS rate: 0.004724 deg/s,
      cmd heading: 269.876456 deg,
      new cmd heading: 269.881583 deg.

2025-01-08T17:21:00.459Z,1736356860.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710322 target range: 461.500000 and range: 461.50 m.
2025-01-08T17:21:00.541Z,1736356860.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002082
2025-01-08T17:21:00.797Z,1736356860.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257983
2025-01-08T17:21:00.889Z,1736356860.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:00.898Z,1736356860.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.50 m.
2025-01-08T17:21:00.901Z,1736356860.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.500000 m,
      nav range: 460.767578 m,
      bearing: 273.920325 deg,
      approach rate: -0.476426 m/s,
      LOS rate: 0.002677 deg/s,
      cmd heading: 269.881593 deg,
      new cmd heading: 269.885149 deg.

2025-01-08T17:21:00.902Z,1736356860.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710384 target range: 461.500000 and range: 461.50 m.
2025-01-08T17:21:01.044Z,1736356861.044 [DAT](INFO): DAT read: Rx Time:17:20:59.8094

2025-01-08T17:21:01.045Z,1736356861.045 [DAT](INFO): Rx dataTimestamp_ set to:1736356861.044482
2025-01-08T17:21:01.045Z,1736356861.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506856
2025-01-08T17:21:01.261Z,1736356861.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:01.270Z,1736356861.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.50 m.
2025-01-08T17:21:01.273Z,1736356861.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.500000 m,
      nav range: 460.591003 m,
      bearing: 273.921130 deg,
      approach rate: -0.474556 m/s,
      LOS rate: 0.002166 deg/s,
      cmd heading: 269.885144 deg,
      new cmd heading: 269.887562 deg.

2025-01-08T17:21:01.274Z,1736356861.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710426 target range: 461.500000 and range: 461.50 m.
2025-01-08T17:21:01.314Z,1736356861.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774888
2025-01-08T17:21:01.566Z,1736356861.566 [DAT](INFO): DAT read: Range 10 to 50 : 467.5 m  (Round-trip  623.4 ms) speed  0.5 m/s

2025-01-08T17:21:01.567Z,1736356861.567 [DAT](INFO): DAT read: user:70>

2025-01-08T17:21:01.568Z,1736356861.568 [DAT](INFO): DAT read: Tx time:17:21:00.8819

2025-01-08T17:21:01.568Z,1736356861.568 [DAT](INFO): Ping request sent.
2025-01-08T17:21:01.568Z,1736356861.568 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:21:01.568Z,1736356861.568 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:21:01.569Z,1736356861.569 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:01.569Z,1736356861.569 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:01.680Z,1736356861.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:01.698Z,1736356861.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:01.707Z,1736356861.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 467.500000 m,
      deltaT: 4.047376 s,
      deltaX: 6.000000 m,
      approachRate: 1.482442 m/s,
      rangeRepo size: 4

2025-01-08T17:21:01.712Z,1736356861.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.50 m.
2025-01-08T17:21:01.736Z,1736356861.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.500000 m,
      nav range: 460.391327 m,
      bearing: 273.921977 deg,
      approach rate: -0.458254 m/s,
      LOS rate: 0.001943 deg/s,
      cmd heading: 269.887548 deg,
      new cmd heading: 269.890089 deg.

2025-01-08T17:21:01.745Z,1736356861.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710471 target range: 461.500000 and range: 467.50 m.
2025-01-08T17:21:01.822Z,1736356861.822 [DAT](INFO): DAT read: TxSync time:17:21:00.8811

2025-01-08T17:21:01.824Z,1736356861.824 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:21:01.824Z,1736356861.824 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:21:01.825Z,1736356861.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:21:02.073Z,1736356862.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504748
2025-01-08T17:21:02.139Z,1736356862.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:02.147Z,1736356862.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.50 m.
2025-01-08T17:21:02.151Z,1736356862.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.500000 m,
      nav range: 460.148560 m,
      bearing: 273.922264 deg,
      approach rate: -0.549938 m/s,
      LOS rate: 0.000650 deg/s,
      cmd heading: 269.890089 deg,
      new cmd heading: 269.890950 deg.

2025-01-08T17:21:02.152Z,1736356862.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710486 target range: 461.500000 and range: 467.50 m.
2025-01-08T17:21:02.324Z,1736356862.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756179
2025-01-08T17:21:02.518Z,1736356862.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:02.527Z,1736356862.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.50 m.
2025-01-08T17:21:02.530Z,1736356862.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.500000 m,
      nav range: 459.947357 m,
      bearing: 273.922494 deg,
      approach rate: -0.529912 m/s,
      LOS rate: 0.000606 deg/s,
      cmd heading: 269.890964 deg,
      new cmd heading: 269.891654 deg.

2025-01-08T17:21:02.531Z,1736356862.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710498 target range: 461.500000 and range: 467.50 m.
2025-01-08T17:21:02.576Z,1736356862.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008128
2025-01-08T17:21:02.832Z,1736356862.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262910
2025-01-08T17:21:02.968Z,1736356862.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:02.978Z,1736356862.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.50 m.
2025-01-08T17:21:02.981Z,1736356862.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.500000 m,
      nav range: 459.674805 m,
      bearing: 273.922612 deg,
      approach rate: -0.604369 m/s,
      LOS rate: 0.000263 deg/s,
      cmd heading: 269.891647 deg,
      new cmd heading: 269.892003 deg.

2025-01-08T17:21:02.982Z,1736356862.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710504 target range: 461.500000 and range: 467.50 m.
2025-01-08T17:21:03.082Z,1736356863.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513352
2025-01-08T17:21:03.317Z,1736356863.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:03.326Z,1736356863.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.50 m.
2025-01-08T17:21:03.333Z,1736356863.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764293
2025-01-08T17:21:03.351Z,1736356863.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.500000 m,
      nav range: 459.462616 m,
      bearing: 273.922755 deg,
      approach rate: -0.608594 m/s,
      LOS rate: 0.000410 deg/s,
      cmd heading: 269.892002 deg,
      new cmd heading: 269.892430 deg.

2025-01-08T17:21:03.352Z,1736356863.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710512 target range: 461.500000 and range: 467.50 m.
2025-01-08T17:21:03.586Z,1736356863.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017542
2025-01-08T17:21:03.741Z,1736356863.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:03.747Z,1736356863.747 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:03.750Z,1736356863.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.50 m.
2025-01-08T17:21:03.753Z,1736356863.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.500000 m,
      nav range: 459.204895 m,
      bearing: 273.922929 deg,
      approach rate: -0.608812 m/s,
      LOS rate: 0.000410 deg/s,
      cmd heading: 269.892439 deg,
      new cmd heading: 269.892960 deg.

2025-01-08T17:21:03.754Z,1736356863.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710521 target range: 461.500000 and range: 467.50 m.
2025-01-08T17:21:03.841Z,1736356863.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272442
2025-01-08T17:21:04.088Z,1736356864.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520075
2025-01-08T17:21:04.146Z,1736356864.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:04.155Z,1736356864.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.50 m.
2025-01-08T17:21:04.158Z,1736356864.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.500000 m,
      nav range: 458.928558 m,
      bearing: 273.923252 deg,
      approach rate: -0.681529 m/s,
      LOS rate: 0.000798 deg/s,
      cmd heading: 269.892958 deg,
      new cmd heading: 269.893929 deg.

2025-01-08T17:21:04.159Z,1736356864.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710538 target range: 461.500000 and range: 467.50 m.
2025-01-08T17:21:04.340Z,1736356864.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772029
2025-01-08T17:21:04.525Z,1736356864.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:04.535Z,1736356864.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.50 m.
2025-01-08T17:21:04.538Z,1736356864.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.500000 m,
      nav range: 458.669800 m,
      bearing: 273.923672 deg,
      approach rate: -0.681956 m/s,
      LOS rate: 0.001108 deg/s,
      cmd heading: 269.893942 deg,
      new cmd heading: 269.895203 deg.

2025-01-08T17:21:04.539Z,1736356864.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710560 target range: 461.500000 and range: 467.50 m.
2025-01-08T17:21:04.593Z,1736356864.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025078
2025-01-08T17:21:04.848Z,1736356864.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278559
2025-01-08T17:21:04.965Z,1736356864.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:04.974Z,1736356864.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.50 m.
2025-01-08T17:21:04.980Z,1736356864.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.500000 m,
      nav range: 458.336975 m,
      bearing: 273.924302 deg,
      approach rate: -0.757616 m/s,
      LOS rate: 0.001435 deg/s,
      cmd heading: 269.895198 deg,
      new cmd heading: 269.897090 deg.

2025-01-08T17:21:04.982Z,1736356864.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710593 target range: 461.500000 and range: 467.50 m.
2025-01-08T17:21:05.097Z,1736356865.097 [DAT](INFO): DAT read: Rx Time:17:21:03.9062

2025-01-08T17:21:05.098Z,1736356865.098 [DAT](INFO): Rx dataTimestamp_ set to:1736356865.097704
2025-01-08T17:21:05.099Z,1736356865.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530665
2025-01-08T17:21:05.336Z,1736356865.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:05.345Z,1736356865.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.50 m.
2025-01-08T17:21:05.349Z,1736356865.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780319
2025-01-08T17:21:05.368Z,1736356865.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.500000 m,
      nav range: 458.056213 m,
      bearing: 273.924963 deg,
      approach rate: -0.756903 m/s,
      LOS rate: 0.001781 deg/s,
      cmd heading: 269.897083 deg,
      new cmd heading: 269.899065 deg.

2025-01-08T17:21:05.369Z,1736356865.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710628 target range: 461.500000 and range: 467.50 m.
2025-01-08T17:21:05.603Z,1736356865.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034321
2025-01-08T17:21:05.769Z,1736356865.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:05.776Z,1736356865.776 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:05.778Z,1736356865.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 461.50 m.
2025-01-08T17:21:05.781Z,1736356865.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 461.500000 m,
      nav range: 457.728821 m,
      bearing: 273.925862 deg,
      approach rate: -0.755658 m/s,
      LOS rate: 0.002078 deg/s,
      cmd heading: 269.899078 deg,
      new cmd heading: 269.901778 deg.

2025-01-08T17:21:05.783Z,1736356865.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710675 target range: 461.500000 and range: 467.50 m.
2025-01-08T17:21:05.881Z,1736356865.881 [DAT](INFO): DAT read: 17:21:03.9062 LVL= 24144, 32049, 22354, 32755, AGC= 69, IDX= 409, 0.31,-0.742,-2.128,-0.895,-1.386, PHS= 0.732,-0.695, 0.488, RAW= 140.8,  -8.0, CAL= 147.1, -17.7, ROT=   2.9,  17.7

2025-01-08T17:21:05.888Z,1736356865.888 [DAT](INFO): got valid direction response:
 17:21:03.9062 LVL= 24144, 32049, 22354, 32755, AGC= 69, IDX= 409, 0.31,-0.742,-2.128,-0.895,-1.386, PHS= 0.732,-0.695, 0.488, RAW= 140.8,  -8.0, CAL= 147.1, -17.7, ROT=   2.9,  17.7

2025-01-08T17:21:05.890Z,1736356865.890 [DAT](INFO): DAT read: Bearing   2.9,  17.7 (Local)

2025-01-08T17:21:05.895Z,1736356865.895 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.9,  17.7 (Local)

2025-01-08T17:21:05.897Z,1736356865.897 [DAT](INFO): DAT read: Range 10 to 50 : 465.0 m  (Round-trip  620.1 ms) speed  0.6 m/s

2025-01-08T17:21:05.898Z,1736356865.898 [DAT](INFO): DAT read: user:71>

2025-01-08T17:21:05.899Z,1736356865.899 [DAT](INFO): DAT read: Tx time:17:21:05.0320

2025-01-08T17:21:05.899Z,1736356865.899 [DAT](INFO): Ping request sent.
2025-01-08T17:21:05.899Z,1736356865.899 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:21:05.908Z,1736356865.908 [DAT](INFO): DAT read: TxSync time:17:21:05.0312

2025-01-08T17:21:05.909Z,1736356865.909 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:21:05.910Z,1736356865.910 [DAT](INFO): direction in FSK: [0.951441,0.048198,-0.304033]
2025-01-08T17:21:05.910Z,1736356865.910 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:05.910Z,1736356865.910 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:05.918Z,1736356865.918 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:05.918Z,1736356865.918 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:06.260Z,1736356866.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:06.274Z,1736356866.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 465.000000 m,
      deltaT: 4.292009 s,
      deltaX: -2.500000 m,
      approachRate: -0.582478 m/s,
      rangeRepo size: 4

2025-01-08T17:21:06.277Z,1736356866.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 465.000000 m,
      bearing: 274.514930 deg,
      lat: 36.904333 deg,
      lon: -122.119168 deg,
      deltaT: 8.339385 s,
      deltaX: 3.500000 m,
      approachRate: 0.419695 m/s,
      posRepo size: 4

2025-01-08T17:21:06.277Z,1736356866.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.00 m.
2025-01-08T17:21:06.280Z,1736356866.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.000000 m,
      nav range: 457.350037 m,
      bearing: 273.927308 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002078 deg/s,
      cmd heading: 269.901783 deg,
      new cmd heading: 269.904873 deg.

2025-01-08T17:21:06.281Z,1736356866.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710729 target range: 465.000000 and range: 465.00 m.
2025-01-08T17:21:06.640Z,1736356866.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:06.648Z,1736356866.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.00 m.
2025-01-08T17:21:06.652Z,1736356866.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.000000 m,
      nav range: 457.057037 m,
      bearing: 273.928568 deg,
      approach rate: -0.783775 m/s,
      LOS rate: 0.003374 deg/s,
      cmd heading: 269.904870 deg,
      new cmd heading: 269.908654 deg.

2025-01-08T17:21:06.653Z,1736356866.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710795 target range: 465.000000 and range: 465.00 m.
2025-01-08T17:21:07.069Z,1736356867.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:07.077Z,1736356867.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.00 m.
2025-01-08T17:21:07.080Z,1736356867.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.000000 m,
      nav range: 456.721252 m,
      bearing: 273.931164 deg,
      approach rate: -0.781819 m/s,
      LOS rate: 0.006048 deg/s,
      cmd heading: 269.908667 deg,
      new cmd heading: 269.916460 deg.

2025-01-08T17:21:07.081Z,1736356867.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710931 target range: 465.000000 and range: 465.00 m.
2025-01-08T17:21:07.456Z,1736356867.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:07.469Z,1736356867.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.00 m.
2025-01-08T17:21:07.492Z,1736356867.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.000000 m,
      nav range: 456.418671 m,
      bearing: 273.933652 deg,
      approach rate: -0.772239 m/s,
      LOS rate: 0.006355 deg/s,
      cmd heading: 269.916454 deg,
      new cmd heading: 269.923923 deg.

2025-01-08T17:21:07.493Z,1736356867.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711061 target range: 465.000000 and range: 465.00 m.
2025-01-08T17:21:07.851Z,1736356867.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:07.922Z,1736356867.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:07.938Z,1736356867.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.00 m.
2025-01-08T17:21:07.945Z,1736356867.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.000000 m,
      nav range: 456.111450 m,
      bearing: 273.936212 deg,
      approach rate: -0.654597 m/s,
      LOS rate: 0.005458 deg/s,
      cmd heading: 269.923912 deg,
      new cmd heading: 269.931597 deg.

2025-01-08T17:21:07.946Z,1736356867.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711195 target range: 465.000000 and range: 465.00 m.
2025-01-08T17:21:08.122Z,1736356868.122 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:21:08.122Z,1736356868.122 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:21:08.122Z,1736356868.122 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:21:08.288Z,1736356868.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:08.319Z,1736356868.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.00 m.
2025-01-08T17:21:08.322Z,1736356868.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.000000 m,
      nav range: 455.786957 m,
      bearing: 273.939361 deg,
      approach rate: -0.889393 m/s,
      LOS rate: 0.008637 deg/s,
      cmd heading: 269.931590 deg,
      new cmd heading: 269.941043 deg.

2025-01-08T17:21:08.323Z,1736356868.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711360 target range: 465.000000 and range: 465.00 m.
2025-01-08T17:21:08.374Z,1736356868.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474578
2025-01-08T17:21:08.624Z,1736356868.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725307
2025-01-08T17:21:08.652Z,1736356868.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:08.661Z,1736356868.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.00 m.
2025-01-08T17:21:08.664Z,1736356868.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.000000 m,
      nav range: 455.517700 m,
      bearing: 273.942054 deg,
      approach rate: -0.752250 m/s,
      LOS rate: 0.007529 deg/s,
      cmd heading: 269.941042 deg,
      new cmd heading: 269.949127 deg.

2025-01-08T17:21:08.665Z,1736356868.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711501 target range: 465.000000 and range: 465.00 m.
2025-01-08T17:21:08.894Z,1736356868.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994074
2025-01-08T17:21:09.092Z,1736356869.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:09.101Z,1736356869.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.00 m.
2025-01-08T17:21:09.120Z,1736356869.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.000000 m,
      nav range: 455.218994 m,
      bearing: 273.944928 deg,
      approach rate: -0.679293 m/s,
      LOS rate: 0.006539 deg/s,
      cmd heading: 269.949129 deg,
      new cmd heading: 269.957756 deg.

2025-01-08T17:21:09.121Z,1736356869.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711652 target range: 465.000000 and range: 465.00 m.
2025-01-08T17:21:09.144Z,1736356869.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245427
2025-01-08T17:21:09.396Z,1736356869.396 [DAT](INFO): DAT read: Rx Time:17:21:08.0408

2025-01-08T17:21:09.397Z,1736356869.397 [DAT](INFO): Rx dataTimestamp_ set to:1736356869.396430
2025-01-08T17:21:09.397Z,1736356869.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498321
2025-01-08T17:21:09.476Z,1736356869.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:09.489Z,1736356869.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.00 m.
2025-01-08T17:21:09.504Z,1736356869.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.000000 m,
      nav range: 454.957855 m,
      bearing: 273.947432 deg,
      approach rate: -0.671963 m/s,
      LOS rate: 0.006446 deg/s,
      cmd heading: 269.957763 deg,
      new cmd heading: 269.965278 deg.

2025-01-08T17:21:09.505Z,1736356869.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711783 target range: 465.000000 and range: 465.00 m.
2025-01-08T17:21:09.648Z,1736356869.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749338
2025-01-08T17:21:09.866Z,1736356869.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:09.943Z,1736356869.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.00 m.
2025-01-08T17:21:09.946Z,1736356869.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 465.000000 m,
      nav range: 454.692108 m,
      bearing: 273.949964 deg,
      approach rate: -0.597457 m/s,
      LOS rate: 0.005696 deg/s,
      cmd heading: 269.965276 deg,
      new cmd heading: 269.972877 deg.

2025-01-08T17:21:09.948Z,1736356869.948 [DAT](INFO): DAT read: 17:21:08.0408 LVL= 20976, 24145, 19442, 32755, AGC= 70, IDX= 284,-0.42, 1.423,-0.029, 1.271, 0.753, PHS= 0.758,-0.736, 0.515, RAW= 141.3,  -7.8, CAL= 147.6, -17.3, ROT=   2.4,  17.3

2025-01-08T17:21:09.949Z,1736356869.949 [DAT](INFO): got valid direction response:
 17:21:08.0408 LVL= 20976, 24145, 19442, 32755, AGC= 70, IDX= 284,-0.42, 1.423,-0.029, 1.271, 0.753, PHS= 0.758,-0.736, 0.515, RAW= 141.3,  -7.8, CAL= 147.6, -17.3, ROT=   2.4,  17.3

2025-01-08T17:21:09.956Z,1736356869.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711915 target range: 465.000000 and range: 465.00 m.
2025-01-08T17:21:09.960Z,1736356869.960 [DAT](INFO): DAT read: Bearing   2.4,  17.3 (Local)

2025-01-08T17:21:09.961Z,1736356869.961 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.4,  17.3 (Local)

2025-01-08T17:21:09.972Z,1736356869.972 [DAT](INFO): DAT read: Range 10 to 50 : 453.4 m  (Round-trip  604.6 ms) speed  0.0 m/s

2025-01-08T17:21:09.973Z,1736356869.973 [DAT](INFO): DAT read: user:72>

2025-01-08T17:21:09.974Z,1736356869.974 [DAT](INFO): DAT read: Tx time:17:21:09.1320

2025-01-08T17:21:09.974Z,1736356869.974 [DAT](INFO): Ping request sent.
2025-01-08T17:21:09.974Z,1736356869.974 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:21:09.987Z,1736356869.987 [DAT](INFO): DAT read: TxSync time:17:21:09.1312

2025-01-08T17:21:09.988Z,1736356869.988 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:21:09.989Z,1736356869.989 [DAT](INFO): direction in FSK: [0.953923,0.039981,-0.297375]
2025-01-08T17:21:09.989Z,1736356869.989 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:09.989Z,1736356869.989 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:10.001Z,1736356870.001 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:10.001Z,1736356870.001 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:10.329Z,1736356870.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:10.378Z,1736356870.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 453.399994 m,
      deltaT: 4.045518 s,
      deltaX: -11.600006 m,
      approachRate: -2.867372 m/s,
      rangeRepo size: 4

2025-01-08T17:21:10.385Z,1736356870.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 453.399994 m,
      bearing: 273.464981 deg,
      lat: 36.904319 deg,
      lon: -122.119115 deg,
      deltaT: 4.045518 s,
      deltaX: -11.600006 m,
      approachRate: -2.867372 m/s,
      posRepo size: 4

2025-01-08T17:21:10.385Z,1736356870.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.40 m.
2025-01-08T17:21:10.393Z,1736356870.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.399994 m,
      nav range: 449.570282 m,
      bearing: 273.808297 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005696 deg/s,
      cmd heading: 269.972871 deg,
      new cmd heading: 269.980446 deg.

2025-01-08T17:21:10.394Z,1736356870.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712048 target range: 453.399994 and range: 453.40 m.
2025-01-08T17:21:10.709Z,1736356870.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:10.756Z,1736356870.756 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:10.758Z,1736356870.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.40 m.
2025-01-08T17:21:10.765Z,1736356870.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.399994 m,
      nav range: 449.336365 m,
      bearing: 273.811085 deg,
      approach rate: -0.614414 m/s,
      LOS rate: 0.007326 deg/s,
      cmd heading: 269.980439 deg,
      new cmd heading: 269.988807 deg.

2025-01-08T17:21:10.767Z,1736356870.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712193 target range: 453.399994 and range: 453.40 m.
2025-01-08T17:21:10.910Z,1736356870.910 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:21:10.911Z,1736356870.911 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:21:10.912Z,1736356870.912 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:21:11.131Z,1736356871.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:11.156Z,1736356871.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.40 m.
2025-01-08T17:21:11.159Z,1736356871.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.399994 m,
      nav range: 449.104950 m,
      bearing: 273.814449 deg,
      approach rate: -0.581197 m/s,
      LOS rate: 0.008453 deg/s,
      cmd heading: 269.988799 deg,
      new cmd heading: 269.998896 deg.

2025-01-08T17:21:11.160Z,1736356871.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.185911
2025-01-08T17:21:11.164Z,1736356871.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712370 target range: 453.399994 and range: 453.40 m.
2025-01-08T17:21:11.412Z,1736356871.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.437917
2025-01-08T17:21:11.517Z,1736356871.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:11.526Z,1736356871.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.40 m.
2025-01-08T17:21:11.529Z,1736356871.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.399994 m,
      nav range: 448.892578 m,
      bearing: 273.817412 deg,
      approach rate: -0.574853 m/s,
      LOS rate: 0.008024 deg/s,
      cmd heading: 269.998908 deg,
      new cmd heading: 270.007801 deg.

2025-01-08T17:21:11.530Z,1736356871.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712525 target range: 453.399994 and range: 453.40 m.
2025-01-08T17:21:11.664Z,1736356871.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.689745
2025-01-08T17:21:11.920Z,1736356871.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.945428
2025-01-08T17:21:11.993Z,1736356871.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:12.006Z,1736356872.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.40 m.
2025-01-08T17:21:12.009Z,1736356872.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.399994 m,
      nav range: 448.631531 m,
      bearing: 273.820857 deg,
      approach rate: -0.543529 m/s,
      LOS rate: 0.007177 deg/s,
      cmd heading: 270.007787 deg,
      new cmd heading: 270.018128 deg.

2025-01-08T17:21:12.010Z,1736356872.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712705 target range: 453.399994 and range: 453.40 m.
2025-01-08T17:21:12.168Z,1736356872.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.193831
2025-01-08T17:21:12.355Z,1736356872.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:12.384Z,1736356872.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.40 m.
2025-01-08T17:21:12.387Z,1736356872.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.399994 m,
      nav range: 448.450012 m,
      bearing: 273.822931 deg,
      approach rate: -0.508344 m/s,
      LOS rate: 0.005810 deg/s,
      cmd heading: 270.018114 deg,
      new cmd heading: 270.024338 deg.

2025-01-08T17:21:12.388Z,1736356872.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712814 target range: 453.399994 and range: 453.40 m.
2025-01-08T17:21:12.421Z,1736356872.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446112
2025-01-08T17:21:12.672Z,1736356872.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.697800
2025-01-08T17:21:12.731Z,1736356872.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:12.754Z,1736356872.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.40 m.
2025-01-08T17:21:12.757Z,1736356872.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.399994 m,
      nav range: 448.261566 m,
      bearing: 273.824967 deg,
      approach rate: -0.481446 m/s,
      LOS rate: 0.005205 deg/s,
      cmd heading: 270.024343 deg,
      new cmd heading: 270.030456 deg.

2025-01-08T17:21:12.758Z,1736356872.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712921 target range: 453.399994 and range: 453.40 m.
2025-01-08T17:21:12.924Z,1736356872.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.949840
2025-01-08T17:21:13.176Z,1736356873.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.201744
2025-01-08T17:21:13.181Z,1736356873.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:13.197Z,1736356873.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:13.204Z,1736356873.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.40 m.
2025-01-08T17:21:13.207Z,1736356873.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.399994 m,
      nav range: 448.045715 m,
      bearing: 273.826825 deg,
      approach rate: -0.480183 m/s,
      LOS rate: 0.004134 deg/s,
      cmd heading: 270.030463 deg,
      new cmd heading: 270.036038 deg.

2025-01-08T17:21:13.212Z,1736356873.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713018 target range: 453.399994 and range: 453.40 m.
2025-01-08T17:21:13.433Z,1736356873.433 [DAT](INFO): DAT read: Rx Time:17:21:12.1616

2025-01-08T17:21:13.433Z,1736356873.433 [DAT](INFO): Rx dataTimestamp_ set to:1736356873.432877
2025-01-08T17:21:13.434Z,1736356873.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.459572
2025-01-08T17:21:13.533Z,1736356873.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:13.541Z,1736356873.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.40 m.
2025-01-08T17:21:13.545Z,1736356873.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.399994 m,
      nav range: 447.877838 m,
      bearing: 273.828189 deg,
      approach rate: -0.497579 m/s,
      LOS rate: 0.004046 deg/s,
      cmd heading: 270.036037 deg,
      new cmd heading: 270.040132 deg.

2025-01-08T17:21:13.546Z,1736356873.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713089 target range: 453.399994 and range: 453.40 m.
2025-01-08T17:21:13.685Z,1736356873.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.710277
2025-01-08T17:21:13.996Z,1736356873.996 [DAT](INFO): DAT read: 17:21:12.1616 LVL= 25216, 25153, 22322, 32755, AGC= 71, IDX= 145, 0.12, 1.154,-0.257, 1.256, 0.505, PHS= 0.738,-0.714, 0.749, RAW= 150.4, -10.6, CAL= 156.9, -18.4, ROT= 353.1,  18.4

2025-01-08T17:21:14.008Z,1736356874.008 [DAT](INFO): got valid direction response:
 17:21:12.1616 LVL= 25216, 25153, 22322, 32755, AGC= 71, IDX= 145, 0.12, 1.154,-0.257, 1.256, 0.505, PHS= 0.738,-0.714, 0.749, RAW= 150.4, -10.6, CAL= 156.9, -18.4, ROT= 353.1,  18.4

2025-01-08T17:21:14.008Z,1736356874.008 [DAT](INFO): DAT read: Bearing 353.1,  18.4 (Local)

2025-01-08T17:21:14.009Z,1736356874.009 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.1,  18.4 (Local)

2025-01-08T17:21:14.010Z,1736356874.010 [DAT](INFO): DAT read: Range 10 to 50 : 469.0 m  (Round-trip  625.4 ms) speed  0.2 m/s

2025-01-08T17:21:14.019Z,1736356874.019 [DAT](INFO): DAT read: user:73>

2025-01-08T17:21:14.021Z,1736356874.021 [DAT](INFO): DAT read: Tx time:17:21:13.2820

2025-01-08T17:21:14.022Z,1736356874.022 [DAT](INFO): Ping request sent.
2025-01-08T17:21:14.022Z,1736356874.022 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:21:14.039Z,1736356874.039 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:21:14.040Z,1736356874.040 [DAT](INFO): direction in FSK: [0.942004,-0.113995,-0.315649]
2025-01-08T17:21:14.040Z,1736356874.040 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:14.041Z,1736356874.041 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:14.060Z,1736356874.060 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:14.060Z,1736356874.060 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:14.111Z,1736356874.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:14.158Z,1736356874.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 469.000000 m,
      deltaT: 4.039880 s,
      deltaX: 15.600006 m,
      approachRate: 3.861502 m/s,
      rangeRepo size: 4

2025-01-08T17:21:14.165Z,1736356874.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 469.000000 m,
      bearing: 266.824518 deg,
      lat: 36.904303 deg,
      lon: -122.119115 deg,
      deltaT: 4.039880 s,
      deltaX: 15.600006 m,
      approachRate: 3.861502 m/s,
      posRepo size: 4

2025-01-08T17:21:14.166Z,1736356874.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.00 m.
2025-01-08T17:21:14.185Z,1736356874.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.000000 m,
      nav range: 447.468567 m,
      bearing: 273.592393 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004046 deg/s,
      cmd heading: 270.040135 deg,
      new cmd heading: 270.047615 deg.

2025-01-08T17:21:14.186Z,1736356874.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713220 target range: 469.000000 and range: 469.00 m.
2025-01-08T17:21:14.193Z,1736356874.193 [DAT](INFO): DAT read: TxSync time:17:21:13.2812

2025-01-08T17:21:14.484Z,1736356874.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:14.493Z,1736356874.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.00 m.
2025-01-08T17:21:14.496Z,1736356874.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.000000 m,
      nav range: 447.281982 m,
      bearing: 273.593002 deg,
      approach rate: -0.556839 m/s,
      LOS rate: 0.001819 deg/s,
      cmd heading: 270.047621 deg,
      new cmd heading: 270.049450 deg.

2025-01-08T17:21:14.497Z,1736356874.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713252 target range: 469.000000 and range: 469.00 m.
2025-01-08T17:21:14.883Z,1736356874.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:14.894Z,1736356874.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.00 m.
2025-01-08T17:21:14.897Z,1736356874.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.000000 m,
      nav range: 447.082794 m,
      bearing: 273.593712 deg,
      approach rate: -0.496409 m/s,
      LOS rate: 0.001770 deg/s,
      cmd heading: 270.049451 deg,
      new cmd heading: 270.051582 deg.

2025-01-08T17:21:14.898Z,1736356874.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713289 target range: 469.000000 and range: 469.00 m.
2025-01-08T17:21:15.312Z,1736356875.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:15.320Z,1736356875.320 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:15.322Z,1736356875.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.00 m.
2025-01-08T17:21:15.324Z,1736356875.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.000000 m,
      nav range: 446.848083 m,
      bearing: 273.594633 deg,
      approach rate: -0.548959 m/s,
      LOS rate: 0.002154 deg/s,
      cmd heading: 270.051582 deg,
      new cmd heading: 270.054345 deg.

2025-01-08T17:21:15.325Z,1736356875.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713337 target range: 469.000000 and range: 469.00 m.
2025-01-08T17:21:15.456Z,1736356875.456 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:21:15.456Z,1736356875.456 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:21:15.456Z,1736356875.456 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:21:15.709Z,1736356875.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.687272
2025-01-08T17:21:15.785Z,1736356875.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:15.800Z,1736356875.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.00 m.
2025-01-08T17:21:15.816Z,1736356875.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.000000 m,
      nav range: 446.589478 m,
      bearing: 273.595744 deg,
      approach rate: -0.540026 m/s,
      LOS rate: 0.002323 deg/s,
      cmd heading: 270.054342 deg,
      new cmd heading: 270.057679 deg.

2025-01-08T17:21:15.817Z,1736356875.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713396 target range: 469.000000 and range: 469.00 m.
2025-01-08T17:21:15.962Z,1736356875.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.939532
2025-01-08T17:21:16.212Z,1736356876.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.190121
2025-01-08T17:21:16.264Z,1736356876.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:16.277Z,1736356876.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.00 m.
2025-01-08T17:21:16.285Z,1736356876.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.000000 m,
      nav range: 446.304504 m,
      bearing: 273.597327 deg,
      approach rate: -0.597384 m/s,
      LOS rate: 0.003320 deg/s,
      cmd heading: 270.057675 deg,
      new cmd heading: 270.062425 deg.

2025-01-08T17:21:16.286Z,1736356876.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713479 target range: 469.000000 and range: 469.00 m.
2025-01-08T17:21:16.464Z,1736356876.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.442293
2025-01-08T17:21:16.702Z,1736356876.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:16.726Z,1736356876.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.703517
2025-01-08T17:21:16.731Z,1736356876.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.00 m.
2025-01-08T17:21:16.735Z,1736356876.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.000000 m,
      nav range: 446.043823 m,
      bearing: 273.598835 deg,
      approach rate: -0.596017 m/s,
      LOS rate: 0.003451 deg/s,
      cmd heading: 270.062429 deg,
      new cmd heading: 270.066956 deg.

2025-01-08T17:21:16.736Z,1736356876.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713558 target range: 469.000000 and range: 469.00 m.
2025-01-08T17:21:16.981Z,1736356876.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.957994
2025-01-08T17:21:17.162Z,1736356877.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:17.171Z,1736356877.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.00 m.
2025-01-08T17:21:17.174Z,1736356877.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.000000 m,
      nav range: 445.744019 m,
      bearing: 273.600321 deg,
      approach rate: -0.657629 m/s,
      LOS rate: 0.003262 deg/s,
      cmd heading: 270.066964 deg,
      new cmd heading: 270.071425 deg.

2025-01-08T17:21:17.177Z,1736356877.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713635 target range: 469.000000 and range: 469.00 m.
2025-01-08T17:21:17.228Z,1736356877.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.206332
2025-01-08T17:21:17.480Z,1736356877.480 [DAT](INFO): DAT read: Rx Time:17:21:16.2964

2025-01-08T17:21:17.481Z,1736356877.481 [DAT](INFO): Rx dataTimestamp_ set to:1736356877.480471
2025-01-08T17:21:17.481Z,1736356877.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.459232
2025-01-08T17:21:17.522Z,1736356877.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:17.529Z,1736356877.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:17.531Z,1736356877.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.00 m.
2025-01-08T17:21:17.535Z,1736356877.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.000000 m,
      nav range: 445.510254 m,
      bearing: 273.601631 deg,
      approach rate: -0.648735 m/s,
      LOS rate: 0.003637 deg/s,
      cmd heading: 270.071417 deg,
      new cmd heading: 270.075349 deg.

2025-01-08T17:21:17.536Z,1736356877.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713704 target range: 469.000000 and range: 469.00 m.
2025-01-08T17:21:17.734Z,1736356877.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.711467
2025-01-08T17:21:17.908Z,1736356877.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:17.917Z,1736356877.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 469.00 m.
2025-01-08T17:21:17.920Z,1736356877.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 469.000000 m,
      nav range: 445.260132 m,
      bearing: 273.603107 deg,
      approach rate: -0.648346 m/s,
      LOS rate: 0.003828 deg/s,
      cmd heading: 270.075351 deg,
      new cmd heading: 270.079781 deg.

2025-01-08T17:21:17.921Z,1736356877.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713781 target range: 469.000000 and range: 469.00 m.
2025-01-08T17:21:17.985Z,1736356877.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.963009
2025-01-08T17:21:18.056Z,1736356878.056 [DockingStepper](ERROR): getADC uart error serial timeout
2025-01-08T17:21:18.057Z,1736356878.057 [DockingStepper](FAULT): uart error - getPosition..serial timeout
2025-01-08T17:21:18.057Z,1736356878.057 [DockingStepper] Communications Fault, FailCount= 1
2025-01-08T17:21:18.057Z,1736356878.057 [DockingStepper](ERROR): Communications Fault
2025-01-08T17:21:18.063Z,1736356878.063 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-08T17:21:18.134Z,1736356878.134 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-01-08T17:21:18.250Z,1736356878.250 [DAT](INFO): DAT read: 17:21:16.2964 LVL= 17456, 21601, 16434, 25699, AGC= 69, IDX= 292, 0.00, 0.721,-0.605, 0.828,-0.145, PHS= 0.954,-0.413, 0.970, RAW= 150.6, -21.2, CAL= 155.6, -28.1, ROT= 354.4,  28.1

2025-01-08T17:21:18.252Z,1736356878.252 [DAT](INFO): got valid direction response:
 17:21:16.2964 LVL= 17456, 21601, 16434, 25699, AGC= 69, IDX= 292, 0.00, 0.721,-0.605, 0.828,-0.145, PHS= 0.954,-0.413, 0.970, RAW= 150.6, -21.2, CAL= 155.6, -28.1, ROT= 354.4,  28.1

2025-01-08T17:21:18.254Z,1736356878.254 [DAT](INFO): DAT read: Bearing 354.4,  28.1 (Local)

2025-01-08T17:21:18.255Z,1736356878.255 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.4,  28.1 (Local)

2025-01-08T17:21:18.259Z,1736356878.259 [DAT](INFO): DAT read: Range 10 to 50 : 457.6 m  (Round-trip  610.2 ms) speed  0.9 m/s

2025-01-08T17:21:18.262Z,1736356878.262 [DAT](INFO): DAT read: user:74>

2025-01-08T17:21:18.264Z,1736356878.264 [DAT](INFO): DAT read: Tx time:17:21:17.3821

2025-01-08T17:21:18.265Z,1736356878.265 [DAT](INFO): Ping request sent.
2025-01-08T17:21:18.265Z,1736356878.265 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:21:18.265Z,1736356878.265 [DAT](INFO): DAT read: TxSync time:17:21:17.3813

2025-01-08T17:21:18.267Z,1736356878.267 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:21:18.269Z,1736356878.269 [DAT](INFO): direction in FSK: [0.877917,-0.086081,-0.471012]
2025-01-08T17:21:18.269Z,1736356878.269 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:18.269Z,1736356878.269 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:18.273Z,1736356878.273 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:18.273Z,1736356878.273 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:18.419Z,1736356878.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:18.456Z,1736356878.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 457.600006 m,
      deltaT: 4.295340 s,
      deltaX: -11.399994 m,
      approachRate: -2.654038 m/s,
      rangeRepo size: 4

2025-01-08T17:21:18.459Z,1736356878.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 457.600006 m,
      bearing: 268.226481 deg,
      lat: 36.904295 deg,
      lon: -122.119115 deg,
      deltaT: 4.295340 s,
      deltaX: -11.399994 m,
      approachRate: -2.654038 m/s,
      posRepo size: 4

2025-01-08T17:21:18.475Z,1736356878.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.60 m.
2025-01-08T17:21:18.478Z,1736356878.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.600006 m,
      nav range: 444.836639 m,
      bearing: 273.487830 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003828 deg/s,
      cmd heading: 270.079777 deg,
      new cmd heading: 270.085965 deg.

2025-01-08T17:21:18.479Z,1736356878.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713889 target range: 457.600006 and range: 457.60 m.
2025-01-08T17:21:18.504Z,1736356878.504 [DockingStepper](INFO): Stop
2025-01-08T17:21:18.505Z,1736356878.505 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-01-08T17:21:18.505Z,1736356878.505 [DockingStepper](INFO): Powering down
2025-01-08T17:21:18.730Z,1736356878.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:18.741Z,1736356878.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.60 m.
2025-01-08T17:21:18.743Z,1736356878.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.600006 m,
      nav range: 444.608582 m,
      bearing: 273.488547 deg,
      approach rate: -0.804883 m/s,
      LOS rate: 0.002533 deg/s,
      cmd heading: 270.085952 deg,
      new cmd heading: 270.088105 deg.

2025-01-08T17:21:18.744Z,1736356878.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713927 target range: 457.600006 and range: 457.60 m.
2025-01-08T17:21:18.758Z,1736356878.758 [DockingStepper](INFO): Stopping
2025-01-08T17:21:19.166Z,1736356879.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:19.174Z,1736356879.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.60 m.
2025-01-08T17:21:19.180Z,1736356879.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.600006 m,
      nav range: 444.283661 m,
      bearing: 273.488898 deg,
      approach rate: -0.747197 m/s,
      LOS rate: 0.000807 deg/s,
      cmd heading: 270.088110 deg,
      new cmd heading: 270.089163 deg.

2025-01-08T17:21:19.181Z,1736356879.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713945 target range: 457.600006 and range: 457.60 m.
2025-01-08T17:21:19.195Z,1736356879.195 [DockingStepper](INFO): Stopping
2025-01-08T17:21:19.531Z,1736356879.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:19.539Z,1736356879.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:19.541Z,1736356879.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.60 m.
2025-01-08T17:21:19.544Z,1736356879.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.600006 m,
      nav range: 444.011017 m,
      bearing: 273.489275 deg,
      approach rate: -0.742656 m/s,
      LOS rate: 0.001027 deg/s,
      cmd heading: 270.089176 deg,
      new cmd heading: 270.090307 deg.

2025-01-08T17:21:19.545Z,1736356879.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713965 target range: 457.600006 and range: 457.60 m.
2025-01-08T17:21:19.559Z,1736356879.559 [DockingStepper](INFO): Stopping
2025-01-08T17:21:19.748Z,1736356879.748 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:21:19.748Z,1736356879.748 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:21:19.749Z,1736356879.749 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:21:19.929Z,1736356879.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:19.940Z,1736356879.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.60 m.
2025-01-08T17:21:19.942Z,1736356879.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.600006 m,
      nav range: 443.714447 m,
      bearing: 273.489809 deg,
      approach rate: -0.743937 m/s,
      LOS rate: 0.001342 deg/s,
      cmd heading: 270.090296 deg,
      new cmd heading: 270.091900 deg.

2025-01-08T17:21:19.944Z,1736356879.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713993 target range: 457.600006 and range: 457.60 m.
2025-01-08T17:21:19.973Z,1736356879.973 [DockingStepper](INFO): Stopping
2025-01-08T17:21:20.001Z,1736356880.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736072
2025-01-08T17:21:20.077Z,1736356880.077 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:21:20.252Z,1736356880.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987780
2025-01-08T17:21:20.370Z,1736356880.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:20.378Z,1736356880.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.60 m.
2025-01-08T17:21:20.381Z,1736356880.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.600006 m,
      nav range: 443.385590 m,
      bearing: 273.490890 deg,
      approach rate: -0.749762 m/s,
      LOS rate: 0.002466 deg/s,
      cmd heading: 270.091908 deg,
      new cmd heading: 270.095152 deg.

2025-01-08T17:21:20.383Z,1736356880.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714050 target range: 457.600006 and range: 457.60 m.
2025-01-08T17:21:20.396Z,1736356880.396 [DockingStepper](INFO): Stopping
2025-01-08T17:21:20.505Z,1736356880.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240458
2025-01-08T17:21:20.756Z,1736356880.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491790
2025-01-08T17:21:20.770Z,1736356880.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:20.799Z,1736356880.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.60 m.
2025-01-08T17:21:20.802Z,1736356880.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.600006 m,
      nav range: 443.087463 m,
      bearing: 273.491926 deg,
      approach rate: -0.709588 m/s,
      LOS rate: 0.002467 deg/s,
      cmd heading: 270.095159 deg,
      new cmd heading: 270.098268 deg.

2025-01-08T17:21:20.808Z,1736356880.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714104 target range: 457.600006 and range: 457.60 m.
2025-01-08T17:21:20.842Z,1736356880.842 [DockingStepper](INFO): Stopping
2025-01-08T17:21:21.009Z,1736356881.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744140
2025-01-08T17:21:21.081Z,1736356881.081 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:21:21.197Z,1736356881.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:21.205Z,1736356881.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.60 m.
2025-01-08T17:21:21.209Z,1736356881.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.600006 m,
      nav range: 442.781677 m,
      bearing: 273.492659 deg,
      approach rate: -0.751349 m/s,
      LOS rate: 0.001804 deg/s,
      cmd heading: 270.098273 deg,
      new cmd heading: 270.100476 deg.

2025-01-08T17:21:21.212Z,1736356881.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714143 target range: 457.600006 and range: 457.60 m.
2025-01-08T17:21:21.227Z,1736356881.227 [DockingStepper](INFO): Stopping
2025-01-08T17:21:21.261Z,1736356881.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996666
2025-01-08T17:21:21.512Z,1736356881.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247718
2025-01-08T17:21:21.543Z,1736356881.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:21.567Z,1736356881.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:21.569Z,1736356881.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.60 m.
2025-01-08T17:21:21.584Z,1736356881.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.600006 m,
      nav range: 442.534332 m,
      bearing: 273.493333 deg,
      approach rate: -0.679555 m/s,
      LOS rate: 0.001851 deg/s,
      cmd heading: 270.100486 deg,
      new cmd heading: 270.102507 deg.

2025-01-08T17:21:21.585Z,1736356881.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714178 target range: 457.600006 and range: 457.60 m.
2025-01-08T17:21:21.606Z,1736356881.606 [DockingStepper](INFO): Stopping
2025-01-08T17:21:21.765Z,1736356881.765 [DAT](INFO): DAT read: Rx Time:17:21:20.3914

2025-01-08T17:21:21.766Z,1736356881.766 [DAT](INFO): Rx dataTimestamp_ set to:1736356881.765367
2025-01-08T17:21:21.767Z,1736356881.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502063
2025-01-08T17:21:21.954Z,1736356881.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:21.963Z,1736356881.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 457.60 m.
2025-01-08T17:21:21.968Z,1736356881.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 457.600006 m,
      nav range: 442.239990 m,
      bearing: 273.494172 deg,
      approach rate: -0.747801 m/s,
      LOS rate: 0.002134 deg/s,
      cmd heading: 270.102508 deg,
      new cmd heading: 270.105028 deg.

2025-01-08T17:21:21.969Z,1736356881.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714222 target range: 457.600006 and range: 457.60 m.
2025-01-08T17:21:21.984Z,1736356881.984 [DockingStepper](INFO): Stopping
2025-01-08T17:21:22.018Z,1736356882.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753669
2025-01-08T17:21:22.282Z,1736356882.282 [DAT](INFO): DAT read: 17:21:20.3914 LVL= 23120, 26529, 21458, 26339, AGC= 66, IDX= 384, 0.41, 1.372, 0.090, 1.417, 0.671, PHS= 0.790,-0.534, 0.743, RAW= 148.2, -15.2, CAL= 154.7, -22.9, ROT= 355.3,  22.9

2025-01-08T17:21:22.295Z,1736356882.295 [DAT](INFO): got valid direction response:
 17:21:20.3914 LVL= 23120, 26529, 21458, 26339, AGC= 66, IDX= 384, 0.41, 1.372, 0.090, 1.417, 0.671, PHS= 0.790,-0.534, 0.743, RAW= 148.2, -15.2, CAL= 154.7, -22.9, ROT= 355.3,  22.9

2025-01-08T17:21:22.296Z,1736356882.296 [DAT](INFO): DAT read: Bearing 355.3,  22.9 (Local)

2025-01-08T17:21:22.297Z,1736356882.297 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.3,  22.9 (Local)

2025-01-08T17:21:22.298Z,1736356882.298 [DAT](INFO): DAT read: Range 10 to 50 : 453.8 m  (Round-trip  605.1 ms) speed  0.3 m/s

2025-01-08T17:21:22.300Z,1736356882.300 [DAT](INFO): DAT read: user:75>

2025-01-08T17:21:22.301Z,1736356882.301 [DAT](INFO): DAT read: Tx time:17:21:21.4821

2025-01-08T17:21:22.301Z,1736356882.301 [DAT](INFO): Ping request sent.
2025-01-08T17:21:22.301Z,1736356882.301 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:21:22.302Z,1736356882.302 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:21:22.303Z,1736356882.303 [DAT](INFO): direction in FSK: [0.918088,-0.075481,-0.389124]
2025-01-08T17:21:22.303Z,1736356882.303 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:22.303Z,1736356882.303 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:22.306Z,1736356882.306 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:22.307Z,1736356882.307 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:22.397Z,1736356882.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:22.426Z,1736356882.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 453.799988 m,
      deltaT: 4.032579 s,
      deltaX: -3.800018 m,
      approachRate: -0.942330 m/s,
      rangeRepo size: 4

2025-01-08T17:21:22.440Z,1736356882.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 453.799988 m,
      bearing: 267.611906 deg,
      lat: 36.903930 deg,
      lon: -122.119132 deg,
      deltaT: 4.032579 s,
      deltaX: -3.800018 m,
      approachRate: -0.942330 m/s,
      posRepo size: 4

2025-01-08T17:21:22.441Z,1736356882.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.80 m.
2025-01-08T17:21:22.448Z,1736356882.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.799988 m,
      nav range: 442.864288 m,
      bearing: 268.247494 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002134 deg/s,
      cmd heading: 270.105022 deg,
      new cmd heading: 270.107984 deg.

2025-01-08T17:21:22.450Z,1736356882.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714273 target range: 453.799988 and range: 453.80 m.
2025-01-08T17:21:22.477Z,1736356882.477 [DockingStepper](INFO): Stopping
2025-01-08T17:21:22.521Z,1736356882.521 [DAT](INFO): DAT read: TxSync time:17:21:21.4813

2025-01-08T17:21:22.778Z,1736356882.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:22.788Z,1736356882.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.80 m.
2025-01-08T17:21:22.790Z,1736356882.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.799988 m,
      nav range: 442.593689 m,
      bearing: 268.245112 deg,
      approach rate: -0.748486 m/s,
      LOS rate: -0.006593 deg/s,
      cmd heading: 270.107972 deg,
      new cmd heading: 270.100822 deg.

2025-01-08T17:21:22.792Z,1736356882.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714149 target range: 453.799988 and range: 453.80 m.
2025-01-08T17:21:22.826Z,1736356882.826 [DockingStepper](INFO): Stopping
2025-01-08T17:21:23.241Z,1736356883.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-08T17:21:23.241Z,1736356883.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:23.254Z,1736356883.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.80 m.
2025-01-08T17:21:23.257Z,1736356883.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.799988 m,
      nav range: 442.263489 m,
      bearing: 268.242141 deg,
      approach rate: -0.707661 m/s,
      LOS rate: -0.006372 deg/s,
      cmd heading: 270.100814 deg,
      new cmd heading: 270.091895 deg.

2025-01-08T17:21:23.258Z,1736356883.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713993 target range: 453.799988 and range: 453.80 m.
2025-01-08T17:21:23.271Z,1736356883.271 [DockingStepper](INFO): Stopping
2025-01-08T17:21:23.567Z,1736356883.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:21:23.567Z,1736356883.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:23.574Z,1736356883.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:23.577Z,1736356883.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.80 m.
2025-01-08T17:21:23.580Z,1736356883.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.799988 m,
      nav range: 442.031921 m,
      bearing: 268.240055 deg,
      approach rate: -0.717309 m/s,
      LOS rate: -0.006464 deg/s,
      cmd heading: 270.091908 deg,
      new cmd heading: 270.085648 deg.

2025-01-08T17:21:23.581Z,1736356883.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713884 target range: 453.799988 and range: 453.80 m.
2025-01-08T17:21:23.596Z,1736356883.596 [DockingStepper](INFO): Stopping
2025-01-08T17:21:23.780Z,1736356883.780 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:21:23.780Z,1736356883.780 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:21:23.780Z,1736356883.780 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:21:23.973Z,1736356883.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-08T17:21:23.973Z,1736356883.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:24.002Z,1736356884.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.80 m.
2025-01-08T17:21:24.009Z,1736356884.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.799988 m,
      nav range: 441.741669 m,
      bearing: 268.237365 deg,
      approach rate: -0.682437 m/s,
      LOS rate: -0.006329 deg/s,
      cmd heading: 270.085651 deg,
      new cmd heading: 270.077575 deg.

2025-01-08T17:21:24.010Z,1736356884.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713743 target range: 453.799988 and range: 453.80 m.
2025-01-08T17:21:24.033Z,1736356884.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731705
2025-01-08T17:21:24.042Z,1736356884.042 [DockingStepper](INFO): Stopping
2025-01-08T17:21:24.284Z,1736356884.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982808
2025-01-08T17:21:24.408Z,1736356884.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:24.417Z,1736356884.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.80 m.
2025-01-08T17:21:24.440Z,1736356884.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.799988 m,
      nav range: 441.503357 m,
      bearing: 268.236440 deg,
      approach rate: -0.574027 m/s,
      LOS rate: -0.002230 deg/s,
      cmd heading: 270.077564 deg,
      new cmd heading: 270.074787 deg.

2025-01-08T17:21:24.441Z,1736356884.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713694 target range: 453.799988 and range: 453.80 m.
2025-01-08T17:21:24.536Z,1736356884.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234832
2025-01-08T17:21:24.596Z,1736356884.596 [DockingStepper](INFO): Stopping
2025-01-08T17:21:24.788Z,1736356884.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486871
2025-01-08T17:21:24.805Z,1736356884.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:24.813Z,1736356884.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.80 m.
2025-01-08T17:21:24.817Z,1736356884.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.799988 m,
      nav range: 441.286133 m,
      bearing: 268.235542 deg,
      approach rate: -0.548736 m/s,
      LOS rate: -0.002270 deg/s,
      cmd heading: 270.074778 deg,
      new cmd heading: 270.072082 deg.

2025-01-08T17:21:24.818Z,1736356884.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713647 target range: 453.799988 and range: 453.80 m.
2025-01-08T17:21:24.856Z,1736356884.856 [DockingStepper](INFO): Stopping
2025-01-08T17:21:25.040Z,1736356885.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738818
2025-01-08T17:21:25.255Z,1736356885.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:25.279Z,1736356885.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.80 m.
2025-01-08T17:21:25.286Z,1736356885.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.799988 m,
      nav range: 441.058868 m,
      bearing: 268.234434 deg,
      approach rate: -0.488389 m/s,
      LOS rate: -0.002382 deg/s,
      cmd heading: 270.072073 deg,
      new cmd heading: 270.068747 deg.

2025-01-08T17:21:25.290Z,1736356885.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713589 target range: 453.799988 and range: 453.80 m.
2025-01-08T17:21:25.292Z,1736356885.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990875
2025-01-08T17:21:25.500Z,1736356885.500 [DockingStepper](INFO): Stopping
2025-01-08T17:21:25.544Z,1736356885.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242742
2025-01-08T17:21:25.718Z,1736356885.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:25.728Z,1736356885.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:25.730Z,1736356885.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 453.80 m.
2025-01-08T17:21:25.770Z,1736356885.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 453.799988 m,
      nav range: 440.824219 m,
      bearing: 268.233289 deg,
      approach rate: -0.519042 m/s,
      LOS rate: -0.002534 deg/s,
      cmd heading: 270.068740 deg,
      new cmd heading: 270.065303 deg.

2025-01-08T17:21:25.776Z,1736356885.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713529 target range: 453.799988 and range: 453.80 m.
2025-01-08T17:21:25.796Z,1736356885.796 [DAT](INFO): DAT read: Rx Time:17:21:24.4889

2025-01-08T17:21:25.797Z,1736356885.797 [DAT](INFO): Rx dataTimestamp_ set to:1736356885.796610
2025-01-08T17:21:25.797Z,1736356885.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495978
2025-01-08T17:21:25.934Z,1736356885.934 [DockingStepper](INFO): Stopping
2025-01-08T17:21:26.051Z,1736356886.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750000
2025-01-08T17:21:26.284Z,1736356886.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:26.307Z,1736356886.307 [DAT](INFO): DAT read: 17:21:24.4889 LVL= 24720, 26337, 17938, 32755, AGC= 69, IDX= 423, 0.27, 1.512, 0.384, 1.552, 0.704, PHS= 0.896,-0.273, 0.845, RAW= 147.8, -24.4, CAL= 152.3, -30.9, ROT= 357.7,  30.9

2025-01-08T17:21:26.308Z,1736356886.308 [DAT](INFO): got valid direction response:
 17:21:24.4889 LVL= 24720, 26337, 17938, 32755, AGC= 69, IDX= 423, 0.27, 1.512, 0.384, 1.552, 0.704, PHS= 0.896,-0.273, 0.845, RAW= 147.8, -24.4, CAL= 152.3, -30.9, ROT= 357.7,  30.9

2025-01-08T17:21:26.309Z,1736356886.309 [DAT](INFO): DAT read: Bearing 357.7,  30.9 (Local)

2025-01-08T17:21:26.309Z,1736356886.309 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.7,  30.9 (Local)

2025-01-08T17:21:26.311Z,1736356886.311 [DAT](INFO): DAT read: Range 10 to 50 : 452.0 m  (Round-trip  602.7 ms) speed  0.2 m/s

2025-01-08T17:21:26.312Z,1736356886.312 [DAT](INFO): DAT read: user:76>

2025-01-08T17:21:26.312Z,1736356886.312 [DAT](INFO): DAT read: Tx time:17:21:25.5821

2025-01-08T17:21:26.313Z,1736356886.313 [DAT](INFO): Ping request sent.
2025-01-08T17:21:26.313Z,1736356886.313 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:21:26.313Z,1736356886.313 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:21:26.314Z,1736356886.314 [DAT](INFO): direction in FSK: [0.857374,-0.034436,-0.513541]
2025-01-08T17:21:26.314Z,1736356886.314 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:26.315Z,1736356886.315 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:26.322Z,1736356886.322 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:26.322Z,1736356886.322 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:26.355Z,1736356886.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 452.000000 m,
      deltaT: 4.031366 s,
      deltaX: -1.799988 m,
      approachRate: -0.446496 m/s,
      rangeRepo size: 4

2025-01-08T17:21:26.358Z,1736356886.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 452.000000 m,
      bearing: 272.052207 deg,
      lat: 36.903930 deg,
      lon: -122.119101 deg,
      deltaT: 4.031366 s,
      deltaX: -1.799988 m,
      approachRate: -0.446496 m/s,
      posRepo size: 4

2025-01-08T17:21:26.358Z,1736356886.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.00 m.
2025-01-08T17:21:26.366Z,1736356886.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.000000 m,
      nav range: 437.771576 m,
      bearing: 268.220827 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002534 deg/s,
      cmd heading: 270.065297 deg,
      new cmd heading: 270.060614 deg.

2025-01-08T17:21:26.367Z,1736356886.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713447 target range: 452.000000 and range: 452.00 m.
2025-01-08T17:21:26.430Z,1736356886.430 [DockingStepper](INFO): Stopping
2025-01-08T17:21:26.553Z,1736356886.553 [DAT](INFO): DAT read: TxSync time:17:21:25.5813

2025-01-08T17:21:26.638Z,1736356886.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:26.668Z,1736356886.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.00 m.
2025-01-08T17:21:26.670Z,1736356886.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.000000 m,
      nav range: 437.595093 m,
      bearing: 268.219948 deg,
      approach rate: -0.557248 m/s,
      LOS rate: -0.002778 deg/s,
      cmd heading: 270.060625 deg,
      new cmd heading: 270.057986 deg.

2025-01-08T17:21:26.680Z,1736356886.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713401 target range: 452.000000 and range: 452.00 m.
2025-01-08T17:21:26.723Z,1736356886.723 [DockingStepper](INFO): Stopping
2025-01-08T17:21:27.032Z,1736356887.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:27.041Z,1736356887.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.00 m.
2025-01-08T17:21:27.044Z,1736356887.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.000000 m,
      nav range: 437.398987 m,
      bearing: 268.218972 deg,
      approach rate: -0.519287 m/s,
      LOS rate: -0.002585 deg/s,
      cmd heading: 270.057975 deg,
      new cmd heading: 270.055047 deg.

2025-01-08T17:21:27.045Z,1736356887.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713350 target range: 452.000000 and range: 452.00 m.
2025-01-08T17:21:27.060Z,1736356887.060 [DockingStepper](INFO): Stopping
2025-01-08T17:21:27.470Z,1736356887.470 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:27.479Z,1736356887.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.00 m.
2025-01-08T17:21:27.482Z,1736356887.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.000000 m,
      nav range: 437.175842 m,
      bearing: 268.217575 deg,
      approach rate: -0.509508 m/s,
      LOS rate: -0.003191 deg/s,
      cmd heading: 270.055052 deg,
      new cmd heading: 270.050859 deg.

2025-01-08T17:21:27.484Z,1736356887.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713277 target range: 452.000000 and range: 452.00 m.
2025-01-08T17:21:27.497Z,1736356887.497 [DockingStepper](INFO): Stopping
2025-01-08T17:21:27.838Z,1736356887.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:27.845Z,1736356887.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:27.847Z,1736356887.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.00 m.
2025-01-08T17:21:27.851Z,1736356887.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.000000 m,
      nav range: 436.988373 m,
      bearing: 268.216355 deg,
      approach rate: -0.508815 m/s,
      LOS rate: -0.003313 deg/s,
      cmd heading: 270.050872 deg,
      new cmd heading: 270.047210 deg.

2025-01-08T17:21:27.852Z,1736356887.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713213 target range: 452.000000 and range: 452.00 m.
2025-01-08T17:21:27.865Z,1736356887.865 [DockingStepper](INFO): Stopping
2025-01-08T17:21:28.064Z,1736356888.064 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:21:28.064Z,1736356888.064 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:21:28.064Z,1736356888.064 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:21:28.277Z,1736356888.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:28.285Z,1736356888.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.00 m.
2025-01-08T17:21:28.288Z,1736356888.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.000000 m,
      nav range: 436.744751 m,
      bearing: 268.214980 deg,
      approach rate: -0.556359 m/s,
      LOS rate: -0.003143 deg/s,
      cmd heading: 270.047211 deg,
      new cmd heading: 270.043082 deg.

2025-01-08T17:21:28.289Z,1736356888.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713141 target range: 452.000000 and range: 452.00 m.
2025-01-08T17:21:28.316Z,1736356888.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003496
2025-01-08T17:21:28.332Z,1736356888.332 [DockingStepper](INFO): Stopping
2025-01-08T17:21:28.568Z,1736356888.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255461
2025-01-08T17:21:28.648Z,1736356888.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:28.657Z,1736356888.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.00 m.
2025-01-08T17:21:28.672Z,1736356888.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.000000 m,
      nav range: 436.538666 m,
      bearing: 268.213710 deg,
      approach rate: -0.554174 m/s,
      LOS rate: -0.003415 deg/s,
      cmd heading: 270.043086 deg,
      new cmd heading: 270.039275 deg.

2025-01-08T17:21:28.673Z,1736356888.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713075 target range: 452.000000 and range: 452.00 m.
2025-01-08T17:21:28.713Z,1736356888.713 [DockingStepper](INFO): Stopping
2025-01-08T17:21:28.823Z,1736356888.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510248
2025-01-08T17:21:29.052Z,1736356889.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:29.072Z,1736356889.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759470
2025-01-08T17:21:29.086Z,1736356889.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.00 m.
2025-01-08T17:21:29.089Z,1736356889.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.000000 m,
      nav range: 436.313812 m,
      bearing: 268.212272 deg,
      approach rate: -0.523913 m/s,
      LOS rate: -0.003352 deg/s,
      cmd heading: 270.039288 deg,
      new cmd heading: 270.034972 deg.

2025-01-08T17:21:29.090Z,1736356889.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712999 target range: 452.000000 and range: 452.00 m.
2025-01-08T17:21:29.105Z,1736356889.105 [DockingStepper](INFO): Stopping
2025-01-08T17:21:29.325Z,1736356889.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011777
2025-01-08T17:21:29.501Z,1736356889.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:29.512Z,1736356889.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.00 m.
2025-01-08T17:21:29.520Z,1736356889.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.000000 m,
      nav range: 436.034637 m,
      bearing: 268.210235 deg,
      approach rate: -0.657323 m/s,
      LOS rate: -0.004800 deg/s,
      cmd heading: 270.034971 deg,
      new cmd heading: 270.028856 deg.

2025-01-08T17:21:29.522Z,1736356889.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712893 target range: 452.000000 and range: 452.00 m.
2025-01-08T17:21:29.567Z,1736356889.567 [DockingStepper](INFO): Stopping
2025-01-08T17:21:29.576Z,1736356889.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263590
2025-01-08T17:21:29.828Z,1736356889.828 [DAT](INFO): DAT read: Rx Time:17:21:28.5865

2025-01-08T17:21:29.829Z,1736356889.829 [DAT](INFO): Rx dataTimestamp_ set to:1736356889.828466
2025-01-08T17:21:29.829Z,1736356889.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516454
2025-01-08T17:21:29.874Z,1736356889.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:29.881Z,1736356889.881 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:29.884Z,1736356889.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 452.00 m.
2025-01-08T17:21:29.886Z,1736356889.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 452.000000 m,
      nav range: 435.802582 m,
      bearing: 268.208558 deg,
      approach rate: -0.622866 m/s,
      LOS rate: -0.004505 deg/s,
      cmd heading: 270.028851 deg,
      new cmd heading: 270.023817 deg.

2025-01-08T17:21:29.888Z,1736356889.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712805 target range: 452.000000 and range: 452.00 m.
2025-01-08T17:21:29.930Z,1736356889.930 [DockingStepper](INFO): Stopping
2025-01-08T17:21:30.080Z,1736356890.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767449
2025-01-08T17:21:30.344Z,1736356890.344 [DAT](INFO): DAT read: 17:21:28.5865 LVL= 17264, 27857, 20354, 27907, AGC= 69, IDX= 414, 0.05, 0.845,-0.700, 0.698, 0.103, PHS= 0.830,-0.757, 0.592, RAW= 142.0,  -9.0, CAL= 148.7, -18.5, ROT=   1.3,  18.5

2025-01-08T17:21:30.345Z,1736356890.345 [DAT](INFO): got valid direction response:
 17:21:28.5865 LVL= 17264, 27857, 20354, 27907, AGC= 69, IDX= 414, 0.05, 0.845,-0.700, 0.698, 0.103, PHS= 0.830,-0.757, 0.592, RAW= 142.0,  -9.0, CAL= 148.7, -18.5, ROT=   1.3,  18.5

2025-01-08T17:21:30.346Z,1736356890.346 [DAT](INFO): DAT read: Bearing   1.3,  18.5 (Local)

2025-01-08T17:21:30.347Z,1736356890.347 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.3,  18.5 (Local)

2025-01-08T17:21:30.388Z,1736356890.388 [DAT](INFO): DAT read: Range 10 to 50 : 450.0 m  (Round-trip  600.1 ms) speed  0.7 m/s

2025-01-08T17:21:30.389Z,1736356890.389 [DAT](INFO): DAT read: user:77>

2025-01-08T17:21:30.390Z,1736356890.390 [DAT](INFO): DAT read: Tx time:17:21:29.6822

2025-01-08T17:21:30.390Z,1736356890.390 [DAT](INFO): Ping request sent.
2025-01-08T17:21:30.390Z,1736356890.390 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:21:30.390Z,1736356890.390 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:21:30.406Z,1736356890.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:30.408Z,1736356890.408 [DAT](INFO): direction in FSK: [0.948080,0.021515,-0.317305]
2025-01-08T17:21:30.408Z,1736356890.408 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:30.408Z,1736356890.408 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:30.419Z,1736356890.419 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:30.420Z,1736356890.420 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:30.455Z,1736356890.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 450.000000 m,
      deltaT: 4.032513 s,
      deltaX: -2.000000 m,
      approachRate: -0.495969 m/s,
      rangeRepo size: 4

2025-01-08T17:21:30.466Z,1736356890.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 450.000000 m,
      bearing: 274.473216 deg,
      lat: 36.904190 deg,
      lon: -122.119001 deg,
      deltaT: 4.032513 s,
      deltaX: -2.000000 m,
      approachRate: -0.495969 m/s,
      posRepo size: 4

2025-01-08T17:21:30.466Z,1736356890.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.00 m.
2025-01-08T17:21:30.477Z,1736356890.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.000000 m,
      nav range: 426.569214 m,
      bearing: 272.041438 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004505 deg/s,
      cmd heading: 270.023824 deg,
      new cmd heading: 270.016116 deg.

2025-01-08T17:21:30.478Z,1736356890.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712670 target range: 450.000000 and range: 450.00 m.
2025-01-08T17:21:30.530Z,1736356890.530 [DockingStepper](INFO): Stopping
2025-01-08T17:21:30.585Z,1736356890.585 [DAT](INFO): DAT read: TxSync time:17:21:29.6814

2025-01-08T17:21:30.804Z,1736356890.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:30.821Z,1736356890.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.00 m.
2025-01-08T17:21:30.833Z,1736356890.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.000000 m,
      nav range: 426.301331 m,
      bearing: 272.041010 deg,
      approach rate: -0.729925 m/s,
      LOS rate: -0.001168 deg/s,
      cmd heading: 270.016120 deg,
      new cmd heading: 270.014834 deg.

2025-01-08T17:21:30.834Z,1736356890.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712648 target range: 450.000000 and range: 450.00 m.
2025-01-08T17:21:30.862Z,1736356890.862 [DockingStepper](INFO): Stopping
2025-01-08T17:21:31.140Z,1736356891.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:31.150Z,1736356891.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.00 m.
2025-01-08T17:21:31.153Z,1736356891.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.000000 m,
      nav range: 426.074921 m,
      bearing: 272.040870 deg,
      approach rate: -0.688710 m/s,
      LOS rate: -0.000424 deg/s,
      cmd heading: 270.014836 deg,
      new cmd heading: 270.014418 deg.

2025-01-08T17:21:31.154Z,1736356891.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712641 target range: 450.000000 and range: 450.00 m.
2025-01-08T17:21:31.200Z,1736356891.200 [DockingStepper](INFO): Stopping
2025-01-08T17:21:31.567Z,1736356891.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:31.576Z,1736356891.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.00 m.
2025-01-08T17:21:31.578Z,1736356891.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.000000 m,
      nav range: 425.764771 m,
      bearing: 272.040554 deg,
      approach rate: -0.728308 m/s,
      LOS rate: -0.000744 deg/s,
      cmd heading: 270.014426 deg,
      new cmd heading: 270.013476 deg.

2025-01-08T17:21:31.600Z,1736356891.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712624 target range: 450.000000 and range: 450.00 m.
2025-01-08T17:21:31.633Z,1736356891.633 [DockingStepper](INFO): Stopping
2025-01-08T17:21:31.952Z,1736356891.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:31.959Z,1736356891.959 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:31.961Z,1736356891.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.00 m.
2025-01-08T17:21:31.964Z,1736356891.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.000000 m,
      nav range: 425.484924 m,
      bearing: 272.040661 deg,
      approach rate: -0.725927 m/s,
      LOS rate: 0.000278 deg/s,
      cmd heading: 270.013470 deg,
      new cmd heading: 270.013791 deg.

2025-01-08T17:21:31.966Z,1736356891.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712630 target range: 450.000000 and range: 450.00 m.
2025-01-08T17:21:32.013Z,1736356892.013 [DockingStepper](INFO): Stopping
2025-01-08T17:21:32.096Z,1736356892.096 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:21:32.096Z,1736356892.096 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:21:32.096Z,1736356892.096 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:21:32.348Z,1736356892.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.958087
2025-01-08T17:21:32.403Z,1736356892.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:32.445Z,1736356892.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.00 m.
2025-01-08T17:21:32.448Z,1736356892.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.000000 m,
      nav range: 425.143799 m,
      bearing: 272.041347 deg,
      approach rate: -0.705394 m/s,
      LOS rate: 0.001419 deg/s,
      cmd heading: 270.013798 deg,
      new cmd heading: 270.015857 deg.

2025-01-08T17:21:32.449Z,1736356892.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712666 target range: 450.000000 and range: 450.00 m.
2025-01-08T17:21:32.601Z,1736356892.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210385
2025-01-08T17:21:32.635Z,1736356892.635 [DockingStepper](INFO): Stopping
2025-01-08T17:21:32.836Z,1736356892.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:32.845Z,1736356892.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.00 m.
2025-01-08T17:21:32.849Z,1736356892.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.000000 m,
      nav range: 424.815186 m,
      bearing: 272.042385 deg,
      approach rate: -0.819691 m/s,
      LOS rate: 0.002591 deg/s,
      cmd heading: 270.015847 deg,
      new cmd heading: 270.018963 deg.

2025-01-08T17:21:32.850Z,1736356892.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712720 target range: 450.000000 and range: 450.00 m.
2025-01-08T17:21:32.852Z,1736356892.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.462168
2025-01-08T17:21:32.894Z,1736356892.894 [DockingStepper](INFO): Stopping
2025-01-08T17:21:33.104Z,1736356893.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.714031
2025-01-08T17:21:33.263Z,1736356893.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:33.316Z,1736356893.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.00 m.
2025-01-08T17:21:33.318Z,1736356893.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.000000 m,
      nav range: 424.492737 m,
      bearing: 272.043581 deg,
      approach rate: -0.688616 m/s,
      LOS rate: 0.002555 deg/s,
      cmd heading: 270.018961 deg,
      new cmd heading: 270.022551 deg.

2025-01-08T17:21:33.319Z,1736356893.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712782 target range: 450.000000 and range: 450.00 m.
2025-01-08T17:21:33.356Z,1736356893.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.966233
2025-01-08T17:21:33.504Z,1736356893.504 [DockingStepper](INFO): Stopping
2025-01-08T17:21:33.608Z,1736356893.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217967
2025-01-08T17:21:33.738Z,1736356893.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:33.747Z,1736356893.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.00 m.
2025-01-08T17:21:33.751Z,1736356893.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.000000 m,
      nav range: 424.129669 m,
      bearing: 272.044424 deg,
      approach rate: -0.837951 m/s,
      LOS rate: 0.001948 deg/s,
      cmd heading: 270.022540 deg,
      new cmd heading: 270.025073 deg.

2025-01-08T17:21:33.752Z,1736356893.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712827 target range: 450.000000 and range: 450.00 m.
2025-01-08T17:21:33.860Z,1736356893.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.470229
2025-01-08T17:21:33.900Z,1736356893.900 [DockingStepper](INFO): Stopping
2025-01-08T17:21:34.096Z,1736356894.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:34.104Z,1736356894.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:34.106Z,1736356894.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.00 m.
2025-01-08T17:21:34.108Z,1736356894.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.000000 m,
      nav range: 423.857483 m,
      bearing: 272.045161 deg,
      approach rate: -0.759086 m/s,
      LOS rate: 0.002057 deg/s,
      cmd heading: 270.025081 deg,
      new cmd heading: 270.027293 deg.

2025-01-08T17:21:34.109Z,1736356894.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712865 target range: 450.000000 and range: 450.00 m.
2025-01-08T17:21:34.113Z,1736356894.113 [DAT](INFO): DAT read: Rx Time:17:21:32.6821

2025-01-08T17:21:34.113Z,1736356894.113 [DAT](INFO): Rx dataTimestamp_ set to:1736356894.112756
2025-01-08T17:21:34.114Z,1736356894.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.723372
2025-01-08T17:21:34.262Z,1736356894.262 [DockingStepper](INFO): Stopping
2025-01-08T17:21:34.364Z,1736356894.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.973978
2025-01-08T17:21:34.525Z,1736356894.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:34.535Z,1736356894.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 450.00 m.
2025-01-08T17:21:34.537Z,1736356894.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 450.000000 m,
      nav range: 423.541046 m,
      bearing: 272.045931 deg,
      approach rate: -0.737749 m/s,
      LOS rate: 0.001797 deg/s,
      cmd heading: 270.027294 deg,
      new cmd heading: 270.029607 deg.

2025-01-08T17:21:34.538Z,1736356894.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712906 target range: 450.000000 and range: 450.00 m.
2025-01-08T17:21:34.626Z,1736356894.626 [DAT](INFO): DAT read: 17:21:32.6821 LVL= 19488, 25777, 18162, 32755, AGC= 70, IDX= 400, 0.30, 3.012, 1.494, 2.765, 2.289, PHS= 0.812,-0.748, 0.473, RAW= 138.1,  -7.6, CAL= 144.2, -17.9, ROT=   5.8,  17.9

2025-01-08T17:21:34.627Z,1736356894.627 [DAT](INFO): got valid direction response:
 17:21:32.6821 LVL= 19488, 25777, 18162, 32755, AGC= 70, IDX= 400, 0.30, 3.012, 1.494, 2.765, 2.289, PHS= 0.812,-0.748, 0.473, RAW= 138.1,  -7.6, CAL= 144.2, -17.9, ROT=   5.8,  17.9

2025-01-08T17:21:34.628Z,1736356894.628 [DAT](INFO): DAT read: Bearing   5.8,  17.9 (Local)

2025-01-08T17:21:34.629Z,1736356894.629 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.8,  17.9 (Local)

2025-01-08T17:21:34.630Z,1736356894.630 [DAT](INFO): DAT read: Range 10 to 50 : 446.8 m  (Round-trip  595.8 ms) speed  0.5 m/s

2025-01-08T17:21:34.631Z,1736356894.631 [DAT](INFO): DAT read: user:78>

2025-01-08T17:21:34.632Z,1736356894.632 [DAT](INFO): DAT read: Tx time:17:21:33.7822

2025-01-08T17:21:34.633Z,1736356894.633 [DAT](INFO): Ping request sent.
2025-01-08T17:21:34.633Z,1736356894.633 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:21:34.633Z,1736356894.633 [DAT](INFO): DAT read: TxSync time:17:21:33.7814

2025-01-08T17:21:34.634Z,1736356894.634 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:21:34.635Z,1736356894.635 [DAT](INFO): direction in FSK: [0.946723,0.096165,-0.307357]
2025-01-08T17:21:34.636Z,1736356894.636 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:34.636Z,1736356894.636 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:34.639Z,1736356894.639 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:34.639Z,1736356894.639 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:34.676Z,1736356894.676 [DockingStepper](INFO): Stopping
2025-01-08T17:21:34.904Z,1736356894.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:34.938Z,1736356894.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 446.799988 m,
      deltaT: 4.284819 s,
      deltaX: -3.200012 m,
      approachRate: -0.746826 m/s,
      rangeRepo size: 4

2025-01-08T17:21:34.942Z,1736356894.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 446.799988 m,
      bearing: 276.080928 deg,
      lat: 36.904206 deg,
      lon: -122.119132 deg,
      deltaT: 4.284819 s,
      deltaX: -3.200012 m,
      approachRate: -0.746826 m/s,
      posRepo size: 4

2025-01-08T17:21:34.943Z,1736356894.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.80 m.
2025-01-08T17:21:34.946Z,1736356894.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.799988 m,
      nav range: 435.022888 m,
      bearing: 272.225047 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001797 deg/s,
      cmd heading: 270.029616 deg,
      new cmd heading: 270.031789 deg.

2025-01-08T17:21:34.947Z,1736356894.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712944 target range: 446.799988 and range: 446.80 m.
2025-01-08T17:21:34.973Z,1736356894.973 [DockingStepper](INFO): Stopping
2025-01-08T17:21:35.393Z,1736356895.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:35.402Z,1736356895.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.80 m.
2025-01-08T17:21:35.422Z,1736356895.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.799988 m,
      nav range: 434.683472 m,
      bearing: 272.225616 deg,
      approach rate: -0.731073 m/s,
      LOS rate: 0.001228 deg/s,
      cmd heading: 270.031802 deg,
      new cmd heading: 270.033512 deg.

2025-01-08T17:21:35.428Z,1736356895.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712974 target range: 446.799988 and range: 446.80 m.
2025-01-08T17:21:35.471Z,1736356895.471 [DockingStepper](INFO): Stopping
2025-01-08T17:21:35.735Z,1736356895.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:35.744Z,1736356895.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.80 m.
2025-01-08T17:21:35.789Z,1736356895.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.799988 m,
      nav range: 434.446991 m,
      bearing: 272.226027 deg,
      approach rate: -0.692935 m/s,
      LOS rate: 0.001203 deg/s,
      cmd heading: 270.033523 deg,
      new cmd heading: 270.034755 deg.

2025-01-08T17:21:35.790Z,1736356895.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712996 target range: 446.799988 and range: 446.80 m.
2025-01-08T17:21:35.818Z,1736356895.818 [DockingStepper](INFO): Stopping
2025-01-08T17:21:36.113Z,1736356896.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:36.121Z,1736356896.121 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:36.123Z,1736356896.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.80 m.
2025-01-08T17:21:36.126Z,1736356896.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.799988 m,
      nav range: 434.184723 m,
      bearing: 272.226453 deg,
      approach rate: -0.690754 m/s,
      LOS rate: 0.001123 deg/s,
      cmd heading: 270.034753 deg,
      new cmd heading: 270.036032 deg.

2025-01-08T17:21:36.127Z,1736356896.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713018 target range: 446.799988 and range: 446.80 m.
2025-01-08T17:21:36.133Z,1736356896.133 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:21:36.133Z,1736356896.133 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:21:36.133Z,1736356896.133 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:21:36.164Z,1736356896.164 [DockingStepper](INFO): Stopping
2025-01-08T17:21:36.386Z,1736356896.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752664
2025-01-08T17:21:36.560Z,1736356896.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:36.569Z,1736356896.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.80 m.
2025-01-08T17:21:36.572Z,1736356896.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.799988 m,
      nav range: 433.899658 m,
      bearing: 272.227344 deg,
      approach rate: -0.638100 m/s,
      LOS rate: 0.001997 deg/s,
      cmd heading: 270.036037 deg,
      new cmd heading: 270.038713 deg.

2025-01-08T17:21:36.573Z,1736356896.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713065 target range: 446.799988 and range: 446.80 m.
2025-01-08T17:21:36.603Z,1736356896.603 [DockingStepper](INFO): Stopping
2025-01-08T17:21:36.636Z,1736356896.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003516
2025-01-08T17:21:36.888Z,1736356896.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255343
2025-01-08T17:21:36.928Z,1736356896.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:36.937Z,1736356896.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.80 m.
2025-01-08T17:21:36.941Z,1736356896.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.799988 m,
      nav range: 433.665527 m,
      bearing: 272.227909 deg,
      approach rate: -0.637190 m/s,
      LOS rate: 0.001538 deg/s,
      cmd heading: 270.038714 deg,
      new cmd heading: 270.040409 deg.

2025-01-08T17:21:36.942Z,1736356896.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713094 target range: 446.799988 and range: 446.80 m.
2025-01-08T17:21:36.958Z,1736356896.958 [DockingStepper](INFO): Stopping
2025-01-08T17:21:37.140Z,1736356897.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507388
2025-01-08T17:21:37.392Z,1736356897.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759206
2025-01-08T17:21:37.447Z,1736356897.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:37.480Z,1736356897.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.80 m.
2025-01-08T17:21:37.488Z,1736356897.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.799988 m,
      nav range: 433.367706 m,
      bearing: 272.229570 deg,
      approach rate: -0.553168 m/s,
      LOS rate: 0.003087 deg/s,
      cmd heading: 270.040408 deg,
      new cmd heading: 270.045395 deg.

2025-01-08T17:21:37.489Z,1736356897.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713181 target range: 446.799988 and range: 446.80 m.
2025-01-08T17:21:37.547Z,1736356897.547 [DockingStepper](INFO): Stopping
2025-01-08T17:21:37.644Z,1736356897.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011300
2025-01-08T17:21:37.762Z,1736356897.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:37.772Z,1736356897.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.80 m.
2025-01-08T17:21:37.774Z,1736356897.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.799988 m,
      nav range: 433.195465 m,
      bearing: 272.230460 deg,
      approach rate: -0.580852 m/s,
      LOS rate: 0.003002 deg/s,
      cmd heading: 270.045408 deg,
      new cmd heading: 270.048078 deg.

2025-01-08T17:21:37.776Z,1736356897.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713228 target range: 446.799988 and range: 446.80 m.
2025-01-08T17:21:37.901Z,1736356897.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267295
2025-01-08T17:21:37.917Z,1736356897.917 [DockingStepper](INFO): Stopping
2025-01-08T17:21:38.149Z,1736356898.149 [DAT](INFO): DAT read: Rx Time:17:21:36.7663

2025-01-08T17:21:38.150Z,1736356898.150 [DAT](INFO): Rx dataTimestamp_ set to:1736356898.149686
2025-01-08T17:21:38.150Z,1736356898.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517615
2025-01-08T17:21:38.152Z,1736356898.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:38.159Z,1736356898.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:38.161Z,1736356898.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.80 m.
2025-01-08T17:21:38.197Z,1736356898.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.799988 m,
      nav range: 432.963135 m,
      bearing: 272.231602 deg,
      approach rate: -0.597305 m/s,
      LOS rate: 0.002938 deg/s,
      cmd heading: 270.048085 deg,
      new cmd heading: 270.051513 deg.

2025-01-08T17:21:38.198Z,1736356898.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713288 target range: 446.799988 and range: 446.80 m.
2025-01-08T17:21:38.252Z,1736356898.252 [DockingStepper](INFO): Stopping
2025-01-08T17:21:38.400Z,1736356898.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767388
2025-01-08T17:21:38.606Z,1736356898.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:38.615Z,1736356898.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.80 m.
2025-01-08T17:21:38.618Z,1736356898.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.799988 m,
      nav range: 432.720917 m,
      bearing: 272.232710 deg,
      approach rate: -0.533883 m/s,
      LOS rate: 0.002445 deg/s,
      cmd heading: 270.051500 deg,
      new cmd heading: 270.054828 deg.

2025-01-08T17:21:38.619Z,1736356898.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713346 target range: 446.799988 and range: 446.80 m.
2025-01-08T17:21:38.660Z,1736356898.660 [DAT](INFO): DAT read: 17:21:36.7663 LVL= 18832, 27201, 17474, 30963, AGC= 67, IDX= 287, 0.02,-1.697, 3.070,-1.845,-2.367, PHS= 0.758,-0.799, 0.519, RAW= 141.8,  -6.6, CAL= 147.8, -16.0, ROT=   2.2,  16.0

2025-01-08T17:21:38.661Z,1736356898.661 [DAT](INFO): got valid direction response:
 17:21:36.7663 LVL= 18832, 27201, 17474, 30963, AGC= 67, IDX= 287, 0.02,-1.697, 3.070,-1.845,-2.367, PHS= 0.758,-0.799, 0.519, RAW= 141.8,  -6.6, CAL= 147.8, -16.0, ROT=   2.2,  16.0

2025-01-08T17:21:38.662Z,1736356898.662 [DAT](INFO): DAT read: Bearing   2.2,  16.0 (Local)

2025-01-08T17:21:38.662Z,1736356898.662 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2,  16.0 (Local)

2025-01-08T17:21:38.664Z,1736356898.664 [DAT](INFO): DAT read: Range 10 to 50 : 434.9 m  (Round-trip  579.9 ms) speed  0.3 m/s

2025-01-08T17:21:38.664Z,1736356898.664 [DAT](INFO): DAT read: user:79>

2025-01-08T17:21:38.666Z,1736356898.666 [DAT](INFO): DAT read: Tx time:17:21:37.8822

2025-01-08T17:21:38.666Z,1736356898.666 [DAT](INFO): Ping request sent.
2025-01-08T17:21:38.666Z,1736356898.666 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:21:38.666Z,1736356898.666 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:21:38.667Z,1736356898.667 [DAT](INFO): direction in FSK: [0.960553,0.036901,-0.275637]
2025-01-08T17:21:38.668Z,1736356898.668 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:38.668Z,1736356898.668 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:38.671Z,1736356898.671 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:38.671Z,1736356898.671 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:38.772Z,1736356898.772 [DockingStepper](INFO): Stopping
2025-01-08T17:21:38.906Z,1736356898.906 [DAT](INFO): DAT read: TxSync time:17:21:37.8814

2025-01-08T17:21:38.993Z,1736356898.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:39.019Z,1736356899.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 434.899994 m,
      deltaT: 4.034196 s,
      deltaX: -11.899994 m,
      approachRate: -2.949781 m/s,
      rangeRepo size: 4

2025-01-08T17:21:39.025Z,1736356899.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 434.899994 m,
      bearing: 273.776211 deg,
      lat: 36.904311 deg,
      lon: -122.119136 deg,
      deltaT: 4.034196 s,
      deltaX: -11.899994 m,
      approachRate: -2.949781 m/s,
      posRepo size: 4

2025-01-08T17:21:39.026Z,1736356899.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.90 m.
2025-01-08T17:21:39.033Z,1736356899.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.899994 m,
      nav range: 433.469269 m,
      bearing: 273.777678 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002445 deg/s,
      cmd heading: 270.054833 deg,
      new cmd heading: 270.057793 deg.

2025-01-08T17:21:39.034Z,1736356899.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713398 target range: 434.899994 and range: 434.90 m.
2025-01-08T17:21:39.220Z,1736356899.220 [DockingStepper](INFO): Stopped
2025-01-08T17:21:39.397Z,1736356899.397 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-01-08T17:21:39.397Z,1736356899.397 [DockingStepper] No Fault, FailCount= 1
2025-01-08T17:21:39.482Z,1736356899.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:39.501Z,1736356899.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.90 m.
2025-01-08T17:21:39.509Z,1736356899.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.899994 m,
      nav range: 433.211029 m,
      bearing: 273.779661 deg,
      approach rate: -0.534934 m/s,
      LOS rate: 0.004110 deg/s,
      cmd heading: 270.057784 deg,
      new cmd heading: 270.063737 deg.

2025-01-08T17:21:39.516Z,1736356899.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713501 target range: 434.899994 and range: 434.90 m.
2025-01-08T17:21:39.553Z,1736356899.553 [DockingStepper](INFO): Start
2025-01-08T17:21:39.553Z,1736356899.553 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-01-08T17:21:39.554Z,1736356899.554 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-01-08T17:21:39.827Z,1736356899.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:39.837Z,1736356899.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.90 m.
2025-01-08T17:21:39.840Z,1736356899.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.899994 m,
      nav range: 433.031281 m,
      bearing: 273.781000 deg,
      approach rate: -0.534722 m/s,
      LOS rate: 0.003985 deg/s,
      cmd heading: 270.063740 deg,
      new cmd heading: 270.067759 deg.

2025-01-08T17:21:39.841Z,1736356899.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713572 target range: 434.899994 and range: 434.90 m.
2025-01-08T17:21:39.885Z,1736356899.885 [DockingStepper](INFO): Starting
2025-01-08T17:21:40.228Z,1736356900.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:40.236Z,1736356900.236 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:40.238Z,1736356900.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.90 m.
2025-01-08T17:21:40.241Z,1736356900.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.899994 m,
      nav range: 432.817688 m,
      bearing: 273.782531 deg,
      approach rate: -0.532759 m/s,
      LOS rate: 0.003820 deg/s,
      cmd heading: 270.067756 deg,
      new cmd heading: 270.072351 deg.

2025-01-08T17:21:40.242Z,1736356900.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713652 target range: 434.899994 and range: 434.90 m.
2025-01-08T17:21:40.255Z,1736356900.255 [DockingStepper](INFO): Starting
2025-01-08T17:21:40.417Z,1736356900.417 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:21:40.417Z,1736356900.417 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:21:40.417Z,1736356900.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:21:40.655Z,1736356900.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:40.669Z,1736356900.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002576
2025-01-08T17:21:40.672Z,1736356900.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.90 m.
2025-01-08T17:21:40.674Z,1736356900.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.899994 m,
      nav range: 432.589752 m,
      bearing: 273.784839 deg,
      approach rate: -0.525733 m/s,
      LOS rate: 0.005326 deg/s,
      cmd heading: 270.072346 deg,
      new cmd heading: 270.079273 deg.

2025-01-08T17:21:40.693Z,1736356900.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713773 target range: 434.899994 and range: 434.90 m.
2025-01-08T17:21:40.744Z,1736356900.744 [DockingStepper](INFO): Starting
2025-01-08T17:21:40.805Z,1736356900.805 [DockingStepper](INFO): Init string: /1z16336aE13561N3m50
2025-01-08T17:21:40.920Z,1736356900.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254371
2025-01-08T17:21:41.041Z,1736356901.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:41.050Z,1736356901.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.90 m.
2025-01-08T17:21:41.071Z,1736356901.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.899994 m,
      nav range: 432.383606 m,
      bearing: 273.786848 deg,
      approach rate: -0.543825 m/s,
      LOS rate: 0.005301 deg/s,
      cmd heading: 270.079286 deg,
      new cmd heading: 270.085314 deg.

2025-01-08T17:21:41.072Z,1736356901.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713878 target range: 434.899994 and range: 434.90 m.
2025-01-08T17:21:41.093Z,1736356901.093 [DockingStepper](INFO): Starting
2025-01-08T17:21:41.173Z,1736356901.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506457
2025-01-08T17:21:41.424Z,1736356901.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758073
2025-01-08T17:21:41.498Z,1736356901.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:41.506Z,1736356901.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.90 m.
2025-01-08T17:21:41.511Z,1736356901.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.899994 m,
      nav range: 432.136780 m,
      bearing: 273.789025 deg,
      approach rate: -0.541494 m/s,
      LOS rate: 0.004780 deg/s,
      cmd heading: 270.085323 deg,
      new cmd heading: 270.091860 deg.

2025-01-08T17:21:41.528Z,1736356901.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713992 target range: 434.899994 and range: 434.90 m.
2025-01-08T17:21:41.559Z,1736356901.559 [DockingStepper](INFO): Starting
2025-01-08T17:21:41.676Z,1736356901.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010182
2025-01-08T17:21:41.863Z,1736356901.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:41.873Z,1736356901.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.90 m.
2025-01-08T17:21:41.898Z,1736356901.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.899994 m,
      nav range: 431.939331 m,
      bearing: 273.790769 deg,
      approach rate: -0.539012 m/s,
      LOS rate: 0.004762 deg/s,
      cmd heading: 270.091853 deg,
      new cmd heading: 270.097086 deg.

2025-01-08T17:21:41.900Z,1736356901.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714084 target range: 434.899994 and range: 434.90 m.
2025-01-08T17:21:41.921Z,1736356901.921 [DockingStepper](INFO): Starting
2025-01-08T17:21:41.958Z,1736356901.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.292146
2025-01-08T17:21:42.208Z,1736356902.208 [DAT](INFO): DAT read: Rx Time:17:21:40.8885

2025-01-08T17:21:42.209Z,1736356902.209 [DAT](INFO): Rx dataTimestamp_ set to:1736356902.208469
2025-01-08T17:21:42.209Z,1736356902.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.543232
2025-01-08T17:21:42.297Z,1736356902.297 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:42.305Z,1736356902.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:42.307Z,1736356902.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.90 m.
2025-01-08T17:21:42.310Z,1736356902.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.899994 m,
      nav range: 431.707855 m,
      bearing: 273.792815 deg,
      approach rate: -0.532846 m/s,
      LOS rate: 0.004713 deg/s,
      cmd heading: 270.097099 deg,
      new cmd heading: 270.103241 deg.

2025-01-08T17:21:42.311Z,1736356902.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714191 target range: 434.899994 and range: 434.90 m.
2025-01-08T17:21:42.326Z,1736356902.326 [DockingStepper](INFO): Starting
2025-01-08T17:21:42.377Z,1736356902.377 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-01-08T17:21:42.460Z,1736356902.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.794290
2025-01-08T17:21:42.686Z,1736356902.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:42.726Z,1736356902.726 [DAT](INFO): DAT read: 17:21:40.8885 LVL= 22800, 22241, 20690, 29299, AGC= 65, IDX= 161, 0.25,-1.762,-2.944,-1.721,-2.539, PHS= 0.866,-0.357, 0.815, RAW= 147.9, -21.3, CAL= 153.0, -28.3, ROT= 357.0,  28.3

2025-01-08T17:21:42.727Z,1736356902.727 [DAT](INFO): got valid direction response:
 17:21:40.8885 LVL= 22800, 22241, 20690, 29299, AGC= 65, IDX= 161, 0.25,-1.762,-2.944,-1.721,-2.539, PHS= 0.866,-0.357, 0.815, RAW= 147.9, -21.3, CAL= 153.0, -28.3, ROT= 357.0,  28.3

2025-01-08T17:21:42.733Z,1736356902.733 [DAT](INFO): DAT read: Bearing 357.0,  28.3 (Local)

2025-01-08T17:21:42.733Z,1736356902.733 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.0,  28.3 (Local)

2025-01-08T17:21:42.734Z,1736356902.734 [DAT](INFO): DAT read: Range 10 to 50 : 451.5 m  (Round-trip  602.1 ms) speed  0.3 m/s

2025-01-08T17:21:42.737Z,1736356902.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.90 m.
2025-01-08T17:21:42.743Z,1736356902.743 [DAT](INFO): DAT read: user:80>

2025-01-08T17:21:42.744Z,1736356902.744 [DAT](INFO): DAT read: Tx time:17:21:41.9823

2025-01-08T17:21:42.744Z,1736356902.744 [DAT](INFO): Ping request sent.
2025-01-08T17:21:42.745Z,1736356902.745 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:21:42.745Z,1736356902.745 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:21:42.746Z,1736356902.746 [DAT](INFO): direction in FSK: [0.879271,-0.046081,-0.474088]
2025-01-08T17:21:42.746Z,1736356902.746 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:42.746Z,1736356902.746 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:42.748Z,1736356902.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.899994 m,
      nav range: 431.474854 m,
      bearing: 273.794673 deg,
      approach rate: -0.541970 m/s,
      LOS rate: 0.004324 deg/s,
      cmd heading: 270.103246 deg,
      new cmd heading: 270.108823 deg.

2025-01-08T17:21:42.750Z,1736356902.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714288 target range: 434.899994 and range: 434.90 m.
2025-01-08T17:21:42.766Z,1736356902.766 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:42.766Z,1736356902.766 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:42.796Z,1736356902.796 [DockingStepper](INFO): Starting
2025-01-08T17:21:42.964Z,1736356902.964 [DAT](INFO): DAT read: TxSync time:17:21:41.9815

2025-01-08T17:21:43.096Z,1736356903.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:43.110Z,1736356903.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 451.500000 m,
      deltaT: 4.060559 s,
      deltaX: 16.600006 m,
      approachRate: 4.088109 m/s,
      rangeRepo size: 4

2025-01-08T17:21:43.113Z,1736356903.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 451.500000 m,
      bearing: 271.638976 deg,
      lat: 36.904311 deg,
      lon: -122.119136 deg,
      deltaT: 4.060559 s,
      deltaX: 16.600006 m,
      approachRate: 4.088109 m/s,
      posRepo size: 4

2025-01-08T17:21:43.114Z,1736356903.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.50 m.
2025-01-08T17:21:43.117Z,1736356903.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.500000 m,
      nav range: 431.232544 m,
      bearing: 273.796607 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004324 deg/s,
      cmd heading: 270.108819 deg,
      new cmd heading: 270.113657 deg.

2025-01-08T17:21:43.118Z,1736356903.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714373 target range: 451.500000 and range: 451.50 m.
2025-01-08T17:21:43.153Z,1736356903.153 [DockingStepper](INFO): Changing to mode: 1
2025-01-08T17:21:43.153Z,1736356903.153 [DockingStepper](INFO): Standby mode.
2025-01-08T17:21:43.534Z,1736356903.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:43.542Z,1736356903.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.50 m.
2025-01-08T17:21:43.545Z,1736356903.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.500000 m,
      nav range: 430.957977 m,
      bearing: 273.798963 deg,
      approach rate: -0.634645 m/s,
      LOS rate: 0.005448 deg/s,
      cmd heading: 270.113655 deg,
      new cmd heading: 270.120726 deg.

2025-01-08T17:21:43.546Z,1736356903.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714496 target range: 451.500000 and range: 451.50 m.
2025-01-08T17:21:43.879Z,1736356903.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:43.889Z,1736356903.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.50 m.
2025-01-08T17:21:43.892Z,1736356903.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.500000 m,
      nav range: 430.723816 m,
      bearing: 273.801099 deg,
      approach rate: -0.675997 m/s,
      LOS rate: 0.006171 deg/s,
      cmd heading: 270.120731 deg,
      new cmd heading: 270.127143 deg.

2025-01-08T17:21:43.893Z,1736356903.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714608 target range: 451.500000 and range: 451.50 m.
2025-01-08T17:21:44.285Z,1736356904.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:44.293Z,1736356904.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.50 m.
2025-01-08T17:21:44.312Z,1736356904.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.500000 m,
      nav range: 430.460083 m,
      bearing: 273.803500 deg,
      approach rate: -0.651936 m/s,
      LOS rate: 0.005937 deg/s,
      cmd heading: 270.127151 deg,
      new cmd heading: 270.134357 deg.

2025-01-08T17:21:44.313Z,1736356904.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714734 target range: 451.500000 and range: 451.50 m.
2025-01-08T17:21:44.720Z,1736356904.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:44.730Z,1736356904.730 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:44.733Z,1736356904.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.50 m.
2025-01-08T17:21:44.736Z,1736356904.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.500000 m,
      nav range: 430.157562 m,
      bearing: 273.805300 deg,
      approach rate: -0.687902 m/s,
      LOS rate: 0.004097 deg/s,
      cmd heading: 270.134364 deg,
      new cmd heading: 270.139769 deg.

2025-01-08T17:21:44.737Z,1736356904.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714828 target range: 451.500000 and range: 451.50 m.
2025-01-08T17:21:44.981Z,1736356904.981 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:21:44.981Z,1736356904.981 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:21:44.981Z,1736356904.981 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:21:45.093Z,1736356905.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:45.102Z,1736356905.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.50 m.
2025-01-08T17:21:45.105Z,1736356905.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.500000 m,
      nav range: 429.898132 m,
      bearing: 273.806912 deg,
      approach rate: -0.702609 m/s,
      LOS rate: 0.004369 deg/s,
      cmd heading: 270.139774 deg,
      new cmd heading: 270.144614 deg.

2025-01-08T17:21:45.106Z,1736356905.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714913 target range: 451.500000 and range: 451.50 m.
2025-01-08T17:21:45.233Z,1736356905.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488449
2025-01-08T17:21:45.484Z,1736356905.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739783
2025-01-08T17:21:45.576Z,1736356905.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:45.587Z,1736356905.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.50 m.
2025-01-08T17:21:45.592Z,1736356905.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.500000 m,
      nav range: 429.541229 m,
      bearing: 273.809551 deg,
      approach rate: -0.738027 m/s,
      LOS rate: 0.005460 deg/s,
      cmd heading: 270.144609 deg,
      new cmd heading: 270.152531 deg.

2025-01-08T17:21:45.593Z,1736356905.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715051 target range: 451.500000 and range: 451.50 m.
2025-01-08T17:21:45.736Z,1736356905.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991749
2025-01-08T17:21:45.898Z,1736356905.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:45.927Z,1736356905.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.50 m.
2025-01-08T17:21:45.930Z,1736356905.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.500000 m,
      nav range: 429.303436 m,
      bearing: 273.811472 deg,
      approach rate: -0.697091 m/s,
      LOS rate: 0.005636 deg/s,
      cmd heading: 270.152532 deg,
      new cmd heading: 270.158300 deg.

2025-01-08T17:21:45.931Z,1736356905.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715152 target range: 451.500000 and range: 451.50 m.
2025-01-08T17:21:45.990Z,1736356905.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244891
2025-01-08T17:21:46.240Z,1736356906.240 [DAT](INFO): DAT read: Rx Time:17:21:44.9857

2025-01-08T17:21:46.241Z,1736356906.241 [DAT](INFO): Rx dataTimestamp_ set to:1736356906.240507
2025-01-08T17:21:46.241Z,1736356906.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496720
2025-01-08T17:21:46.310Z,1736356906.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:46.320Z,1736356906.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 451.50 m.
2025-01-08T17:21:46.335Z,1736356906.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 451.500000 m,
      nav range: 428.999115 m,
      bearing: 273.814028 deg,
      approach rate: -0.773665 m/s,
      LOS rate: 0.006503 deg/s,
      cmd heading: 270.158297 deg,
      new cmd heading: 270.165971 deg.

2025-01-08T17:21:46.336Z,1736356906.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715286 target range: 451.500000 and range: 451.50 m.
2025-01-08T17:21:46.492Z,1736356906.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747697
2025-01-08T17:21:46.751Z,1736356906.751 [DAT](INFO): DAT read: 17:21:44.9857 LVL= 20128, 28433, 17346, 27123, AGC= 71, IDX= 404,-0.22,-1.076,-2.431,-0.974,-1.721, PHS= 0.733,-0.663, 0.744, RAW= 150.4, -11.6, CAL= 157.3, -19.3, ROT= 352.7,  19.3

2025-01-08T17:21:46.752Z,1736356906.752 [DAT](INFO): got valid direction response:
 17:21:44.9857 LVL= 20128, 28433, 17346, 27123, AGC= 71, IDX= 404,-0.22,-1.076,-2.431,-0.974,-1.721, PHS= 0.733,-0.663, 0.744, RAW= 150.4, -11.6, CAL= 157.3, -19.3, ROT= 352.7,  19.3

2025-01-08T17:21:46.753Z,1736356906.753 [DAT](INFO): DAT read: Bearing 352.7,  19.3 (Local)

2025-01-08T17:21:46.753Z,1736356906.753 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.7,  19.3 (Local)

2025-01-08T17:21:46.755Z,1736356906.755 [DAT](INFO): DAT read: Range 10 to 50 : 449.4 m  (Round-trip  599.3 ms) speed  0.8 m/s

2025-01-08T17:21:46.755Z,1736356906.755 [DAT](INFO): DAT read: user:81>

2025-01-08T17:21:46.756Z,1736356906.756 [DAT](INFO): DAT read: Tx time:17:21:46.0823

2025-01-08T17:21:46.756Z,1736356906.756 [DAT](INFO): Ping request sent.
2025-01-08T17:21:46.756Z,1736356906.756 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:21:46.757Z,1736356906.757 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:21:46.758Z,1736356906.758 [DAT](INFO): direction in FSK: [0.936151,-0.119923,-0.330514]
2025-01-08T17:21:46.758Z,1736356906.758 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:46.758Z,1736356906.758 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:46.766Z,1736356906.766 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:46.766Z,1736356906.766 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:46.842Z,1736356906.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:46.876Z,1736356906.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 449.399994 m,
      deltaT: 4.031121 s,
      deltaX: -2.100006 m,
      approachRate: -0.520948 m/s,
      rangeRepo size: 4

2025-01-08T17:21:46.878Z,1736356906.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 449.399994 m,
      bearing: 265.138257 deg,
      lat: 36.904311 deg,
      lon: -122.119203 deg,
      deltaT: 4.031121 s,
      deltaX: -2.100006 m,
      approachRate: -0.520948 m/s,
      posRepo size: 4

2025-01-08T17:21:46.903Z,1736356906.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m.
2025-01-08T17:21:46.906Z,1736356906.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.399994 m,
      nav range: 434.491852 m,
      bearing: 273.764602 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006503 deg/s,
      cmd heading: 270.165974 deg,
      new cmd heading: 270.176719 deg.

2025-01-08T17:21:46.907Z,1736356906.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715473 target range: 449.399994 and range: 449.40 m.
2025-01-08T17:21:47.002Z,1736356907.002 [DAT](INFO): DAT read: TxSync time:17:21:46.0815

2025-01-08T17:21:47.200Z,1736356907.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:47.208Z,1736356907.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:47.210Z,1736356907.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m.
2025-01-08T17:21:47.213Z,1736356907.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.399994 m,
      nav range: 434.226227 m,
      bearing: 273.766182 deg,
      approach rate: -0.784246 m/s,
      LOS rate: 0.004668 deg/s,
      cmd heading: 270.176711 deg,
      new cmd heading: 270.181454 deg.

2025-01-08T17:21:47.214Z,1736356907.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715556 target range: 449.399994 and range: 449.40 m.
2025-01-08T17:21:47.255Z,1736356907.255 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:21:47.255Z,1736356907.255 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:21:47.256Z,1736356907.256 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:21:47.511Z,1736356907.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754431
2025-01-08T17:21:47.658Z,1736356907.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:47.667Z,1736356907.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m.
2025-01-08T17:21:47.670Z,1736356907.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.399994 m,
      nav range: 433.888611 m,
      bearing: 273.769231 deg,
      approach rate: -0.739080 m/s,
      LOS rate: 0.006679 deg/s,
      cmd heading: 270.181465 deg,
      new cmd heading: 270.190618 deg.

2025-01-08T17:21:47.671Z,1736356907.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715716 target range: 449.399994 and range: 449.40 m.
2025-01-08T17:21:47.761Z,1736356907.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004012
2025-01-08T17:21:48.012Z,1736356908.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255500
2025-01-08T17:21:48.022Z,1736356908.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:48.047Z,1736356908.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m.
2025-01-08T17:21:48.050Z,1736356908.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.399994 m,
      nav range: 433.600098 m,
      bearing: 273.771840 deg,
      approach rate: -0.759409 m/s,
      LOS rate: 0.006873 deg/s,
      cmd heading: 270.190618 deg,
      new cmd heading: 270.198451 deg.

2025-01-08T17:21:48.052Z,1736356908.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715853 target range: 449.399994 and range: 449.40 m.
2025-01-08T17:21:48.265Z,1736356908.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508247
2025-01-08T17:21:48.406Z,1736356908.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:48.416Z,1736356908.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m.
2025-01-08T17:21:48.419Z,1736356908.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.399994 m,
      nav range: 433.307343 m,
      bearing: 273.774791 deg,
      approach rate: -0.794720 m/s,
      LOS rate: 0.008015 deg/s,
      cmd heading: 270.198459 deg,
      new cmd heading: 270.207316 deg.

2025-01-08T17:21:48.420Z,1736356908.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716007 target range: 449.399994 and range: 449.40 m.
2025-01-08T17:21:48.517Z,1736356908.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760510
2025-01-08T17:21:48.768Z,1736356908.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011730
2025-01-08T17:21:48.839Z,1736356908.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:48.864Z,1736356908.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m.
2025-01-08T17:21:48.867Z,1736356908.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.399994 m,
      nav range: 432.988007 m,
      bearing: 273.777009 deg,
      approach rate: -0.738574 m/s,
      LOS rate: 0.005134 deg/s,
      cmd heading: 270.207311 deg,
      new cmd heading: 270.213970 deg.

2025-01-08T17:21:48.872Z,1736356908.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716124 target range: 449.399994 and range: 449.40 m.
2025-01-08T17:21:49.021Z,1736356909.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264127
2025-01-08T17:21:49.217Z,1736356909.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:49.224Z,1736356909.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:49.226Z,1736356909.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m.
2025-01-08T17:21:49.229Z,1736356909.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.399994 m,
      nav range: 432.709045 m,
      bearing: 273.778931 deg,
      approach rate: -0.736946 m/s,
      LOS rate: 0.005081 deg/s,
      cmd heading: 270.213977 deg,
      new cmd heading: 270.219746 deg.

2025-01-08T17:21:49.230Z,1736356909.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716224 target range: 449.399994 and range: 449.40 m.
2025-01-08T17:21:49.272Z,1736356909.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515862
2025-01-08T17:21:49.527Z,1736356909.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770191
2025-01-08T17:21:49.648Z,1736356909.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:49.662Z,1736356909.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m.
2025-01-08T17:21:49.665Z,1736356909.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.399994 m,
      nav range: 432.413452 m,
      bearing: 273.781189 deg,
      approach rate: -0.677469 m/s,
      LOS rate: 0.005179 deg/s,
      cmd heading: 270.219742 deg,
      new cmd heading: 270.226520 deg.

2025-01-08T17:21:49.666Z,1736356909.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716342 target range: 449.399994 and range: 449.40 m.
2025-01-08T17:21:49.776Z,1736356909.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019695
2025-01-08T17:21:50.030Z,1736356910.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273525
2025-01-08T17:21:50.085Z,1736356910.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:50.093Z,1736356910.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m.
2025-01-08T17:21:50.108Z,1736356910.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.399994 m,
      nav range: 432.114594 m,
      bearing: 273.783436 deg,
      approach rate: -0.693580 m/s,
      LOS rate: 0.005219 deg/s,
      cmd heading: 270.226517 deg,
      new cmd heading: 270.233264 deg.

2025-01-08T17:21:50.109Z,1736356910.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716460 target range: 449.399994 and range: 449.40 m.
2025-01-08T17:21:50.280Z,1736356910.280 [DAT](INFO): DAT read: Rx Time:17:21:49.0812

2025-01-08T17:21:50.281Z,1736356910.281 [DAT](INFO): Rx dataTimestamp_ set to:1736356910.280477
2025-01-08T17:21:50.282Z,1736356910.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524963
2025-01-08T17:21:50.538Z,1736356910.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781274
2025-01-08T17:21:50.557Z,1736356910.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:50.565Z,1736356910.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m.
2025-01-08T17:21:50.568Z,1736356910.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.399994 m,
      nav range: 431.791138 m,
      bearing: 273.785774 deg,
      approach rate: -0.685644 m/s,
      LOS rate: 0.004960 deg/s,
      cmd heading: 270.233265 deg,
      new cmd heading: 270.240285 deg.

2025-01-08T17:21:50.569Z,1736356910.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716583 target range: 449.399994 and range: 449.40 m.
2025-01-08T17:21:50.796Z,1736356910.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039282
2025-01-08T17:21:51.007Z,1736356911.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:51.021Z,1736356911.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 449.40 m.
2025-01-08T17:21:51.040Z,1736356911.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 449.399994 m,
      nav range: 431.499817 m,
      bearing: 273.786686 deg,
      approach rate: -0.639042 m/s,
      LOS rate: 0.002002 deg/s,
      cmd heading: 270.240287 deg,
      new cmd heading: 270.243024 deg.

2025-01-08T17:21:51.041Z,1736356911.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716630 target range: 449.399994 and range: 449.40 m.
2025-01-08T17:21:51.052Z,1736356911.052 [DAT](INFO): DAT read: 17:21:49.0812 LVL= 22256, 30705, 18418, 32611, AGC= 66, IDX= 390,-0.13, 1.448, 0.093, 1.508, 0.720, PHS= 0.815,-0.580, 0.785, RAW= 148.9, -14.7, CAL= 155.5, -22.3, ROT= 354.5,  22.3

2025-01-08T17:21:51.053Z,1736356911.053 [DAT](INFO): got valid direction response:
 17:21:49.0812 LVL= 22256, 30705, 18418, 32611, AGC= 66, IDX= 390,-0.13, 1.448, 0.093, 1.508, 0.720, PHS= 0.815,-0.580, 0.785, RAW= 148.9, -14.7, CAL= 155.5, -22.3, ROT= 354.5,  22.3

2025-01-08T17:21:51.054Z,1736356911.054 [DAT](INFO): DAT read: Bearing 354.5,  22.3 (Local)

2025-01-08T17:21:51.054Z,1736356911.054 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.5,  22.3 (Local)

2025-01-08T17:21:51.056Z,1736356911.056 [DAT](INFO): DAT read: Range 10 to 50 : 446.1 m  (Round-trip  594.8 ms) speed  0.5 m/s

2025-01-08T17:21:51.057Z,1736356911.057 [DAT](INFO): DAT read: user:82>

2025-01-08T17:21:51.057Z,1736356911.057 [DAT](INFO): DAT read: Tx time:17:21:50.1823

2025-01-08T17:21:51.058Z,1736356911.058 [DAT](INFO): Ping request sent.
2025-01-08T17:21:51.058Z,1736356911.058 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:21:51.058Z,1736356911.058 [DAT](INFO): DAT read: TxSync time:17:21:50.1815

2025-01-08T17:21:51.059Z,1736356911.059 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:21:51.060Z,1736356911.060 [DAT](INFO): direction in FSK: [0.920950,-0.088678,-0.379456]
2025-01-08T17:21:51.060Z,1736356911.060 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:51.061Z,1736356911.061 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:51.064Z,1736356911.064 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:51.064Z,1736356911.064 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:51.227Z,1736356911.227 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:21:51.493Z,1736356911.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:51.584Z,1736356911.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 446.100006 m,
      deltaT: 4.300078 s,
      deltaX: -3.299988 m,
      approachRate: -0.767425 m/s,
      rangeRepo size: 4

2025-01-08T17:21:51.587Z,1736356911.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 446.100006 m,
      bearing: 268.011146 deg,
      lat: 36.904165 deg,
      lon: -122.119203 deg,
      deltaT: 4.300078 s,
      deltaX: -3.299988 m,
      approachRate: -0.767425 m/s,
      posRepo size: 4

2025-01-08T17:21:51.591Z,1736356911.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.10 m.
2025-01-08T17:21:51.594Z,1736356911.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.100006 m,
      nav range: 430.417633 m,
      bearing: 271.628034 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002002 deg/s,
      cmd heading: 270.243019 deg,
      new cmd heading: 270.246400 deg.

2025-01-08T17:21:51.599Z,1736356911.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716690 target range: 446.100006 and range: 446.10 m.
2025-01-08T17:21:52.077Z,1736356912.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:52.108Z,1736356912.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:52.113Z,1736356912.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.10 m.
2025-01-08T17:21:52.120Z,1736356912.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.100006 m,
      nav range: 430.074249 m,
      bearing: 271.627761 deg,
      approach rate: -0.648942 m/s,
      LOS rate: -0.000516 deg/s,
      cmd heading: 270.246407 deg,
      new cmd heading: 270.245587 deg.

2025-01-08T17:21:52.121Z,1736356912.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716675 target range: 446.100006 and range: 446.10 m.
2025-01-08T17:21:52.228Z,1736356912.228 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:21:52.304Z,1736356912.304 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:21:52.305Z,1736356912.305 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:21:52.305Z,1736356912.305 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:21:52.481Z,1736356912.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:52.530Z,1736356912.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.10 m.
2025-01-08T17:21:52.560Z,1736356912.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501319
2025-01-08T17:21:52.565Z,1736356912.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.100006 m,
      nav range: 429.835754 m,
      bearing: 271.627549 deg,
      approach rate: -0.573906 m/s,
      LOS rate: -0.000509 deg/s,
      cmd heading: 270.245587 deg,
      new cmd heading: 270.244952 deg.

2025-01-08T17:21:52.573Z,1736356912.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716664 target range: 446.100006 and range: 446.10 m.
2025-01-08T17:21:52.809Z,1736356912.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750856
2025-01-08T17:21:52.927Z,1736356912.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:52.936Z,1736356912.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.10 m.
2025-01-08T17:21:52.939Z,1736356912.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.100006 m,
      nav range: 429.587952 m,
      bearing: 271.626862 deg,
      approach rate: -0.607775 m/s,
      LOS rate: -0.001686 deg/s,
      cmd heading: 270.244959 deg,
      new cmd heading: 270.242896 deg.

2025-01-08T17:21:52.941Z,1736356912.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716629 target range: 446.100006 and range: 446.10 m.
2025-01-08T17:21:53.061Z,1736356913.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003338
2025-01-08T17:21:53.311Z,1736356913.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:53.312Z,1736356913.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254607
2025-01-08T17:21:53.322Z,1736356913.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.10 m.
2025-01-08T17:21:53.324Z,1736356913.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.100006 m,
      nav range: 429.374268 m,
      bearing: 271.626168 deg,
      approach rate: -0.554499 m/s,
      LOS rate: -0.001802 deg/s,
      cmd heading: 270.242910 deg,
      new cmd heading: 270.240826 deg.

2025-01-08T17:21:53.326Z,1736356913.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716592 target range: 446.100006 and range: 446.10 m.
2025-01-08T17:21:53.567Z,1736356913.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509201
2025-01-08T17:21:53.762Z,1736356913.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:53.771Z,1736356913.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.10 m.
2025-01-08T17:21:53.774Z,1736356913.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.100006 m,
      nav range: 429.122314 m,
      bearing: 271.625393 deg,
      approach rate: -0.560774 m/s,
      LOS rate: -0.001726 deg/s,
      cmd heading: 270.240833 deg,
      new cmd heading: 270.238506 deg.

2025-01-08T17:21:53.777Z,1736356913.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716552 target range: 446.100006 and range: 446.10 m.
2025-01-08T17:21:53.817Z,1736356913.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758914
2025-01-08T17:21:54.068Z,1736356914.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010484
2025-01-08T17:21:54.133Z,1736356914.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:54.139Z,1736356914.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:54.141Z,1736356914.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.10 m.
2025-01-08T17:21:54.144Z,1736356914.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.100006 m,
      nav range: 428.915405 m,
      bearing: 271.624691 deg,
      approach rate: -0.558358 m/s,
      LOS rate: -0.001894 deg/s,
      cmd heading: 270.238511 deg,
      new cmd heading: 270.236405 deg.

2025-01-08T17:21:54.145Z,1736356914.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716515 target range: 446.100006 and range: 446.10 m.
2025-01-08T17:21:54.322Z,1736356914.322 [DAT](INFO): DAT read: Rx Time:17:21:53.1653

2025-01-08T17:21:54.323Z,1736356914.323 [DAT](INFO): Rx dataTimestamp_ set to:1736356914.322715
2025-01-08T17:21:54.324Z,1736356914.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266486
2025-01-08T17:21:54.531Z,1736356914.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:54.576Z,1736356914.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517354
2025-01-08T17:21:54.608Z,1736356914.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.10 m.
2025-01-08T17:21:54.613Z,1736356914.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.100006 m,
      nav range: 428.692902 m,
      bearing: 271.623877 deg,
      approach rate: -0.476956 m/s,
      LOS rate: -0.001747 deg/s,
      cmd heading: 270.236407 deg,
      new cmd heading: 270.233962 deg.

2025-01-08T17:21:54.614Z,1736356914.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716473 target range: 446.100006 and range: 446.10 m.
2025-01-08T17:21:54.824Z,1736356914.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766461
2025-01-08T17:21:54.970Z,1736356914.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:54.986Z,1736356914.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 446.10 m.
2025-01-08T17:21:54.994Z,1736356914.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 446.100006 m,
      nav range: 428.454468 m,
      bearing: 271.622661 deg,
      approach rate: -0.630034 m/s,
      LOS rate: -0.003214 deg/s,
      cmd heading: 270.233976 deg,
      new cmd heading: 270.230327 deg.

2025-01-08T17:21:54.995Z,1736356914.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716409 target range: 446.100006 and range: 446.10 m.
2025-01-08T17:21:55.085Z,1736356915.085 [DAT](INFO): DAT read: 17:21:53.1653 LVL= 21440, 30913, 17906, 29779, AGC= 70, IDX= 276,-0.00,-0.337,-1.842,-0.405,-0.979, PHS= 0.729,-0.816, 0.571, RAW= 144.6,  -6.6, CAL= 150.5, -15.6, ROT= 359.5,  15.6

2025-01-08T17:21:55.086Z,1736356915.086 [DAT](INFO): got valid direction response:
 17:21:53.1653 LVL= 21440, 30913, 17906, 29779, AGC= 70, IDX= 276,-0.00,-0.337,-1.842,-0.405,-0.979, PHS= 0.729,-0.816, 0.571, RAW= 144.6,  -6.6, CAL= 150.5, -15.6, ROT= 359.5,  15.6

2025-01-08T17:21:55.088Z,1736356915.088 [DAT](INFO): DAT read: Bearing 359.5,  15.6 (Local)

2025-01-08T17:21:55.089Z,1736356915.089 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.5,  15.6 (Local)

2025-01-08T17:21:55.092Z,1736356915.092 [DAT](INFO): DAT read: Range 10 to 50 : 434.1 m  (Round-trip  578.9 ms) speed  0.4 m/s

2025-01-08T17:21:55.093Z,1736356915.093 [DAT](INFO): DAT read: user:83>

2025-01-08T17:21:55.094Z,1736356915.094 [DAT](INFO): DAT read: Tx time:17:21:54.2823

2025-01-08T17:21:55.094Z,1736356915.094 [DAT](INFO): Ping request sent.
2025-01-08T17:21:55.095Z,1736356915.095 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:21:55.100Z,1736356915.100 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:21:55.101Z,1736356915.101 [DAT](INFO): direction in FSK: [0.963126,-0.008405,-0.268920]
2025-01-08T17:21:55.101Z,1736356915.101 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:55.101Z,1736356915.101 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:55.109Z,1736356915.109 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:55.109Z,1736356915.109 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:55.328Z,1736356915.328 [DAT](INFO): DAT read: TxSync time:17:21:54.2815

2025-01-08T17:21:55.355Z,1736356915.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:55.370Z,1736356915.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 434.100006 m,
      deltaT: 4.033443 s,
      deltaX: -12.000000 m,
      approachRate: -2.975126 m/s,
      rangeRepo size: 4

2025-01-08T17:21:55.373Z,1736356915.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 434.100006 m,
      bearing: 272.299167 deg,
      lat: 36.904165 deg,
      lon: -122.119235 deg,
      deltaT: 4.033443 s,
      deltaX: -12.000000 m,
      approachRate: -2.975126 m/s,
      posRepo size: 4

2025-01-08T17:21:55.373Z,1736356915.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.10 m.
2025-01-08T17:21:55.377Z,1736356915.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.100006 m,
      nav range: 431.106079 m,
      bearing: 271.610847 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003214 deg/s,
      cmd heading: 270.230315 deg,
      new cmd heading: 270.226621 deg.

2025-01-08T17:21:55.378Z,1736356915.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716344 target range: 434.100006 and range: 434.10 m.
2025-01-08T17:21:55.835Z,1736356915.835 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:55.844Z,1736356915.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.10 m.
2025-01-08T17:21:55.846Z,1736356915.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.100006 m,
      nav range: 430.834320 m,
      bearing: 271.610456 deg,
      approach rate: -0.573538 m/s,
      LOS rate: -0.000826 deg/s,
      cmd heading: 270.226626 deg,
      new cmd heading: 270.225453 deg.

2025-01-08T17:21:55.847Z,1736356915.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716324 target range: 434.100006 and range: 434.10 m.
2025-01-08T17:21:56.155Z,1736356916.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:56.162Z,1736356916.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:56.164Z,1736356916.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.10 m.
2025-01-08T17:21:56.168Z,1736356916.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.100006 m,
      nav range: 430.652985 m,
      bearing: 271.610121 deg,
      approach rate: -0.565692 m/s,
      LOS rate: -0.001045 deg/s,
      cmd heading: 270.225452 deg,
      new cmd heading: 270.224446 deg.

2025-01-08T17:21:56.169Z,1736356916.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716306 target range: 434.100006 and range: 434.10 m.
2025-01-08T17:21:56.336Z,1736356916.336 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:21:56.336Z,1736356916.336 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:21:56.336Z,1736356916.336 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:21:56.577Z,1736356916.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:56.593Z,1736356916.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497267
2025-01-08T17:21:56.650Z,1736356916.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.10 m.
2025-01-08T17:21:56.657Z,1736356916.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.100006 m,
      nav range: 430.414062 m,
      bearing: 271.609590 deg,
      approach rate: -0.491494 m/s,
      LOS rate: -0.001093 deg/s,
      cmd heading: 270.224441 deg,
      new cmd heading: 270.222846 deg.

2025-01-08T17:21:56.658Z,1736356916.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716279 target range: 434.100006 and range: 434.10 m.
2025-01-08T17:21:56.840Z,1736356916.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745693
2025-01-08T17:21:56.987Z,1736356916.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:56.997Z,1736356916.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.10 m.
2025-01-08T17:21:57.001Z,1736356917.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.100006 m,
      nav range: 430.166412 m,
      bearing: 271.609306 deg,
      approach rate: -0.713792 m/s,
      LOS rate: -0.000819 deg/s,
      cmd heading: 270.222856 deg,
      new cmd heading: 270.222004 deg.

2025-01-08T17:21:57.002Z,1736356917.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716264 target range: 434.100006 and range: 434.10 m.
2025-01-08T17:21:57.093Z,1736356917.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997878
2025-01-08T17:21:57.345Z,1736356917.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249974
2025-01-08T17:21:57.355Z,1736356917.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:57.364Z,1736356917.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.10 m.
2025-01-08T17:21:57.368Z,1736356917.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.100006 m,
      nav range: 429.944122 m,
      bearing: 271.608986 deg,
      approach rate: -0.605915 m/s,
      LOS rate: -0.000873 deg/s,
      cmd heading: 270.222009 deg,
      new cmd heading: 270.221048 deg.

2025-01-08T17:21:57.369Z,1736356917.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716247 target range: 434.100006 and range: 434.10 m.
2025-01-08T17:21:57.600Z,1736356917.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504993
2025-01-08T17:21:57.817Z,1736356917.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:57.826Z,1736356917.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.10 m.
2025-01-08T17:21:57.828Z,1736356917.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.100006 m,
      nav range: 429.641510 m,
      bearing: 271.608407 deg,
      approach rate: -0.655297 m/s,
      LOS rate: -0.001256 deg/s,
      cmd heading: 270.221053 deg,
      new cmd heading: 270.219313 deg.

2025-01-08T17:21:57.829Z,1736356917.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716217 target range: 434.100006 and range: 434.10 m.
2025-01-08T17:21:57.851Z,1736356917.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755766
2025-01-08T17:21:58.100Z,1736356918.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005681
2025-01-08T17:21:58.180Z,1736356918.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:58.188Z,1736356918.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:21:58.190Z,1736356918.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.10 m.
2025-01-08T17:21:58.193Z,1736356918.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.100006 m,
      nav range: 429.403564 m,
      bearing: 271.607950 deg,
      approach rate: -0.652726 m/s,
      LOS rate: -0.001252 deg/s,
      cmd heading: 270.219304 deg,
      new cmd heading: 270.217935 deg.

2025-01-08T17:21:58.194Z,1736356918.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716193 target range: 434.100006 and range: 434.10 m.
2025-01-08T17:21:58.352Z,1736356918.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257652
2025-01-08T17:21:58.569Z,1736356918.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:58.583Z,1736356918.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.10 m.
2025-01-08T17:21:58.586Z,1736356918.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.100006 m,
      nav range: 429.148712 m,
      bearing: 271.607527 deg,
      approach rate: -0.648737 m/s,
      LOS rate: -0.001079 deg/s,
      cmd heading: 270.217938 deg,
      new cmd heading: 270.216667 deg.

2025-01-08T17:21:58.587Z,1736356918.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716170 target range: 434.100006 and range: 434.10 m.
2025-01-08T17:21:58.612Z,1736356918.612 [DAT](INFO): DAT read: Rx Time:17:21:57.2761

2025-01-08T17:21:58.614Z,1736356918.614 [DAT](INFO): Rx dataTimestamp_ set to:1736356918.613000
2025-01-08T17:21:58.626Z,1736356918.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530236
2025-01-08T17:21:58.857Z,1736356918.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762238
2025-01-08T17:21:59.062Z,1736356919.062 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:59.078Z,1736356919.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 434.10 m.
2025-01-08T17:21:59.092Z,1736356919.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 434.100006 m,
      nav range: 428.797791 m,
      bearing: 271.608455 deg,
      approach rate: -0.708263 m/s,
      LOS rate: 0.001876 deg/s,
      cmd heading: 270.216654 deg,
      new cmd heading: 270.219442 deg.

2025-01-08T17:21:59.093Z,1736356919.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716219 target range: 434.100006 and range: 434.10 m.
2025-01-08T17:21:59.115Z,1736356919.115 [DAT](INFO): DAT read: 17:21:57.2761 LVL= 16768, 15857, 12338, 17651, AGC= 70, IDX=  29,-0.11, 0.059,-1.242, 0.185,-0.514, PHS= 0.661,-0.681, 0.696, RAW= 151.3, -10.0, CAL= 157.5, -17.7, ROT= 352.5,  17.7

2025-01-08T17:21:59.116Z,1736356919.116 [DAT](INFO): got valid direction response:
 17:21:57.2761 LVL= 16768, 15857, 12338, 17651, AGC= 70, IDX=  29,-0.11, 0.059,-1.242, 0.185,-0.514, PHS= 0.661,-0.681, 0.696, RAW= 151.3, -10.0, CAL= 157.5, -17.7, ROT= 352.5,  17.7

2025-01-08T17:21:59.117Z,1736356919.117 [DAT](INFO): DAT read: Bearing 352.5,  17.7 (Local)

2025-01-08T17:21:59.118Z,1736356919.118 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.5,  17.7 (Local)

2025-01-08T17:21:59.120Z,1736356919.120 [DAT](INFO): DAT read: Range 10 to 50 : 442.2 m  (Round-trip  589.6 ms) speed  0.5 m/s

2025-01-08T17:21:59.120Z,1736356919.120 [DAT](INFO): DAT read: user:84>

2025-01-08T17:21:59.121Z,1736356919.121 [DAT](INFO): DAT read: Tx time:17:21:58.3824

2025-01-08T17:21:59.121Z,1736356919.121 [DAT](INFO): Ping request sent.
2025-01-08T17:21:59.121Z,1736356919.121 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:21:59.122Z,1736356919.122 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:21:59.123Z,1736356919.123 [DAT](INFO): direction in FSK: [0.944511,-0.124347,-0.304033]
2025-01-08T17:21:59.123Z,1736356919.123 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:59.123Z,1736356919.123 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:59.126Z,1736356919.126 [DAT](INFO): publishing transmit ping time
2025-01-08T17:21:59.126Z,1736356919.126 [DAT](INFO): publishing direction and range info
2025-01-08T17:21:59.361Z,1736356919.361 [DAT](INFO): DAT read: TxSync time:17:21:58.3816

2025-01-08T17:21:59.408Z,1736356919.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:59.423Z,1736356919.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 442.200012 m,
      deltaT: 4.030589 s,
      deltaX: 8.100006 m,
      approachRate: 2.009633 m/s,
      rangeRepo size: 4

2025-01-08T17:21:59.426Z,1736356919.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 442.200012 m,
      bearing: 266.032962 deg,
      lat: 36.903919 deg,
      lon: -122.119258 deg,
      deltaT: 4.030589 s,
      deltaX: 8.100006 m,
      approachRate: 2.009633 m/s,
      posRepo size: 4

2025-01-08T17:21:59.426Z,1736356919.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m.
2025-01-08T17:21:59.429Z,1736356919.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.200012 m,
      nav range: 430.738800 m,
      bearing: 267.965019 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001876 deg/s,
      cmd heading: 270.219441 deg,
      new cmd heading: 270.221374 deg.

2025-01-08T17:21:59.430Z,1736356919.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716253 target range: 442.200012 and range: 442.20 m.
2025-01-08T17:21:59.853Z,1736356919.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:21:59.861Z,1736356919.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m.
2025-01-08T17:21:59.866Z,1736356919.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.200012 m,
      nav range: 430.403687 m,
      bearing: 267.962717 deg,
      approach rate: -0.762759 m/s,
      LOS rate: -0.005244 deg/s,
      cmd heading: 270.221381 deg,
      new cmd heading: 270.214469 deg.

2025-01-08T17:21:59.867Z,1736356919.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716132 target range: 442.200012 and range: 442.20 m.
2025-01-08T17:22:00.220Z,1736356920.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:00.227Z,1736356920.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:00.229Z,1736356920.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m.
2025-01-08T17:22:00.233Z,1736356920.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.200012 m,
      nav range: 430.127319 m,
      bearing: 267.960815 deg,
      approach rate: -0.752128 m/s,
      LOS rate: -0.005178 deg/s,
      cmd heading: 270.214469 deg,
      new cmd heading: 270.208761 deg.

2025-01-08T17:22:00.234Z,1736356920.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716033 target range: 442.200012 and range: 442.20 m.
2025-01-08T17:22:00.368Z,1736356920.368 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:22:00.368Z,1736356920.368 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:22:00.368Z,1736356920.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:22:00.622Z,1736356920.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499818
2025-01-08T17:22:00.691Z,1736356920.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:00.722Z,1736356920.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m.
2025-01-08T17:22:00.729Z,1736356920.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.200012 m,
      nav range: 429.773376 m,
      bearing: 267.958377 deg,
      approach rate: -0.717822 m/s,
      LOS rate: -0.004950 deg/s,
      cmd heading: 270.208759 deg,
      new cmd heading: 270.201437 deg.

2025-01-08T17:22:00.730Z,1736356920.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715905 target range: 442.200012 and range: 442.20 m.
2025-01-08T17:22:00.873Z,1736356920.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751499
2025-01-08T17:22:01.087Z,1736356921.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:01.122Z,1736356921.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m.
2025-01-08T17:22:01.124Z,1736356921.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002829
2025-01-08T17:22:01.129Z,1736356921.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.200012 m,
      nav range: 429.511536 m,
      bearing: 267.955777 deg,
      approach rate: -0.666623 m/s,
      LOS rate: -0.006622 deg/s,
      cmd heading: 270.201437 deg,
      new cmd heading: 270.193634 deg.

2025-01-08T17:22:01.130Z,1736356921.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715768 target range: 442.200012 and range: 442.20 m.
2025-01-08T17:22:01.377Z,1736356921.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255547
2025-01-08T17:22:01.452Z,1736356921.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:01.461Z,1736356921.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m.
2025-01-08T17:22:01.464Z,1736356921.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.200012 m,
      nav range: 429.249542 m,
      bearing: 267.953697 deg,
      approach rate: -0.757104 m/s,
      LOS rate: -0.006016 deg/s,
      cmd heading: 270.193623 deg,
      new cmd heading: 270.187377 deg.

2025-01-08T17:22:01.465Z,1736356921.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715659 target range: 442.200012 and range: 442.20 m.
2025-01-08T17:22:01.628Z,1736356921.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506731
2025-01-08T17:22:01.868Z,1736356921.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:01.881Z,1736356921.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759413
2025-01-08T17:22:01.896Z,1736356921.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m.
2025-01-08T17:22:01.898Z,1736356921.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.200012 m,
      nav range: 428.932007 m,
      bearing: 267.950466 deg,
      approach rate: -0.758442 m/s,
      LOS rate: -0.007722 deg/s,
      cmd heading: 270.187366 deg,
      new cmd heading: 270.177668 deg.

2025-01-08T17:22:01.904Z,1736356921.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715490 target range: 442.200012 and range: 442.20 m.
2025-01-08T17:22:02.133Z,1736356922.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011371
2025-01-08T17:22:02.261Z,1736356922.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:02.269Z,1736356922.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:02.272Z,1736356922.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m.
2025-01-08T17:22:02.274Z,1736356922.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.200012 m,
      nav range: 428.631714 m,
      bearing: 267.947464 deg,
      approach rate: -0.766536 m/s,
      LOS rate: -0.007668 deg/s,
      cmd heading: 270.177668 deg,
      new cmd heading: 270.168655 deg.

2025-01-08T17:22:02.275Z,1736356922.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715333 target range: 442.200012 and range: 442.20 m.
2025-01-08T17:22:02.384Z,1736356922.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262824
2025-01-08T17:22:02.639Z,1736356922.639 [DAT](INFO): DAT read: Rx Time:17:22:01.3586

2025-01-08T17:22:02.640Z,1736356922.640 [DAT](INFO): Rx dataTimestamp_ set to:1736356922.639329
2025-01-08T17:22:02.640Z,1736356922.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518658
2025-01-08T17:22:02.728Z,1736356922.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:02.745Z,1736356922.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m.
2025-01-08T17:22:02.752Z,1736356922.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.200012 m,
      nav range: 428.274902 m,
      bearing: 267.943979 deg,
      approach rate: -0.752859 m/s,
      LOS rate: -0.007360 deg/s,
      cmd heading: 270.168652 deg,
      new cmd heading: 270.158187 deg.

2025-01-08T17:22:02.753Z,1736356922.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715150 target range: 442.200012 and range: 442.20 m.
2025-01-08T17:22:02.888Z,1736356922.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766759
2025-01-08T17:22:03.128Z,1736356923.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:03.137Z,1736356923.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 442.20 m.
2025-01-08T17:22:03.146Z,1736356923.146 [DAT](INFO): DAT read: 17:22:01.3586 LVL= 23360, 26001, 23634, 32755, AGC= 72, IDX= 255,-0.05,-1.235,-2.700,-1.080,-1.898, PHS= 0.751,-0.755, 0.814, RAW= 152.0, -10.5, CAL= 158.4, -18.1, ROT= 351.6,  18.1

2025-01-08T17:22:03.148Z,1736356923.148 [DAT](INFO): got valid direction response:
 17:22:01.3586 LVL= 23360, 26001, 23634, 32755, AGC= 72, IDX= 255,-0.05,-1.235,-2.700,-1.080,-1.898, PHS= 0.751,-0.755, 0.814, RAW= 152.0, -10.5, CAL= 158.4, -18.1, ROT= 351.6,  18.1

2025-01-08T17:22:03.149Z,1736356923.149 [DAT](INFO): DAT read: Bearing 351.6,  18.1 (Local)

2025-01-08T17:22:03.150Z,1736356923.150 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.6,  18.1 (Local)

2025-01-08T17:22:03.151Z,1736356923.151 [DAT](INFO): DAT read: Range 10 to 50 : 429.0 m  (Round-trip  572.1 ms) speed  0.8 m/s

2025-01-08T17:22:03.152Z,1736356923.152 [DAT](INFO): DAT read: user:85>

2025-01-08T17:22:03.153Z,1736356923.153 [DAT](INFO): DAT read: Tx time:17:22:02.4824

2025-01-08T17:22:03.153Z,1736356923.153 [DAT](INFO): Ping request sent.
2025-01-08T17:22:03.153Z,1736356923.153 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:22:03.153Z,1736356923.153 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:22:03.154Z,1736356923.154 [DAT](INFO): direction in FSK: [0.940319,-0.138854,-0.310676]
2025-01-08T17:22:03.155Z,1736356923.155 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:03.155Z,1736356923.155 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:03.156Z,1736356923.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 442.200012 m,
      nav range: 427.975891 m,
      bearing: 267.940481 deg,
      approach rate: -0.762727 m/s,
      LOS rate: -0.008930 deg/s,
      cmd heading: 270.158188 deg,
      new cmd heading: 270.147685 deg.

2025-01-08T17:22:03.158Z,1736356923.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714967 target range: 442.200012 and range: 442.20 m.
2025-01-08T17:22:03.178Z,1736356923.178 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:03.178Z,1736356923.178 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:03.393Z,1736356923.393 [DAT](INFO): DAT read: TxSync time:17:22:02.4816

2025-01-08T17:22:03.475Z,1736356923.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:03.524Z,1736356923.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 429.000000 m,
      deltaT: 4.032101 s,
      deltaX: -13.200012 m,
      approachRate: -3.273731 m/s,
      rangeRepo size: 4

2025-01-08T17:22:03.526Z,1736356923.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 429.000000 m,
      bearing: 264.016753 deg,
      lat: 36.903787 deg,
      lon: -122.119258 deg,
      deltaT: 4.032101 s,
      deltaX: -13.200012 m,
      approachRate: -3.273731 m/s,
      posRepo size: 4

2025-01-08T17:22:03.527Z,1736356923.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.00 m.
2025-01-08T17:22:03.534Z,1736356923.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.000000 m,
      nav range: 428.496399 m,
      bearing: 265.976649 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008930 deg/s,
      cmd heading: 270.147697 deg,
      new cmd heading: 270.137467 deg.

2025-01-08T17:22:03.535Z,1736356923.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714788 target range: 429.000000 and range: 429.00 m.
2025-01-08T17:22:03.892Z,1736356923.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:03.901Z,1736356923.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.00 m.
2025-01-08T17:22:03.921Z,1736356923.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.000000 m,
      nav range: 428.208282 m,
      bearing: 265.972435 deg,
      approach rate: -0.753454 m/s,
      LOS rate: -0.011029 deg/s,
      cmd heading: 270.137479 deg,
      new cmd heading: 270.124826 deg.

2025-01-08T17:22:03.922Z,1736356923.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714568 target range: 429.000000 and range: 429.00 m.
2025-01-08T17:22:04.268Z,1736356924.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:04.291Z,1736356924.291 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:04.297Z,1736356924.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.00 m.
2025-01-08T17:22:04.313Z,1736356924.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.000000 m,
      nav range: 427.948242 m,
      bearing: 265.968749 deg,
      approach rate: -0.657124 m/s,
      LOS rate: -0.009319 deg/s,
      cmd heading: 270.124829 deg,
      new cmd heading: 270.113766 deg.

2025-01-08T17:22:04.314Z,1736356924.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714375 target range: 429.000000 and range: 429.00 m.
2025-01-08T17:22:04.401Z,1736356924.401 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:22:04.401Z,1736356924.401 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:22:04.401Z,1736356924.401 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:22:04.652Z,1736356924.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499284
2025-01-08T17:22:04.679Z,1736356924.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:04.754Z,1736356924.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.00 m.
2025-01-08T17:22:04.761Z,1736356924.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.000000 m,
      nav range: 427.664185 m,
      bearing: 265.964802 deg,
      approach rate: -0.621539 m/s,
      LOS rate: -0.008643 deg/s,
      cmd heading: 270.113764 deg,
      new cmd heading: 270.101914 deg.

2025-01-08T17:22:04.762Z,1736356924.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714168 target range: 429.000000 and range: 429.00 m.
2025-01-08T17:22:04.906Z,1736356924.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752534
2025-01-08T17:22:05.114Z,1736356925.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:05.142Z,1736356925.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.00 m.
2025-01-08T17:22:05.145Z,1736356925.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.000000 m,
      nav range: 427.382294 m,
      bearing: 265.960019 deg,
      approach rate: -0.726924 m/s,
      LOS rate: -0.012342 deg/s,
      cmd heading: 270.101907 deg,
      new cmd heading: 270.087549 deg.

2025-01-08T17:22:05.146Z,1736356925.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713917 target range: 429.000000 and range: 429.00 m.
2025-01-08T17:22:05.156Z,1736356925.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003299
2025-01-08T17:22:05.408Z,1736356925.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255123
2025-01-08T17:22:05.499Z,1736356925.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:05.508Z,1736356925.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.00 m.
2025-01-08T17:22:05.511Z,1736356925.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.000000 m,
      nav range: 427.132721 m,
      bearing: 265.955779 deg,
      approach rate: -0.682900 m/s,
      LOS rate: -0.011608 deg/s,
      cmd heading: 270.087536 deg,
      new cmd heading: 270.074810 deg.

2025-01-08T17:22:05.512Z,1736356925.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713695 target range: 429.000000 and range: 429.00 m.
2025-01-08T17:22:05.660Z,1736356925.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507156
2025-01-08T17:22:05.905Z,1736356925.905 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -89.31     -57.69,   6.0
2025-01-08T17:22:05.912Z,1736356925.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759312
2025-01-08T17:22:05.914Z,1736356925.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:22:05.914Z,1736356925.914 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:05.961Z,1736356925.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.00 m.
2025-01-08T17:22:05.968Z,1736356925.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.000000 m,
      nav range: 426.863892 m,
      bearing: 265.951088 deg,
      approach rate: -0.592162 m/s,
      LOS rate: -0.010339 deg/s,
      cmd heading: 270.074805 deg,
      new cmd heading: 270.060724 deg.

2025-01-08T17:22:05.969Z,1736356925.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713449 target range: 429.000000 and range: 429.00 m.
2025-01-08T17:22:06.165Z,1736356926.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011158
2025-01-08T17:22:06.289Z,1736356926.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:22:06.289Z,1736356926.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:06.313Z,1736356926.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:06.324Z,1736356926.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.00 m.
2025-01-08T17:22:06.330Z,1736356926.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.000000 m,
      nav range: 426.620544 m,
      bearing: 265.946787 deg,
      approach rate: -0.683680 m/s,
      LOS rate: -0.012091 deg/s,
      cmd heading: 270.060735 deg,
      new cmd heading: 270.047824 deg.

2025-01-08T17:22:06.332Z,1736356926.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713223 target range: 429.000000 and range: 429.00 m.
2025-01-08T17:22:06.416Z,1736356926.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263358
2025-01-08T17:22:06.668Z,1736356926.668 [DAT](INFO): DAT read: Rx Time:17:22:05.4549

2025-01-08T17:22:06.669Z,1736356926.669 [DAT](INFO): Rx dataTimestamp_ set to:1736356926.668551
2025-01-08T17:22:06.669Z,1736356926.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516290
2025-01-08T17:22:06.704Z,1736356926.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-08T17:22:06.704Z,1736356926.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:06.788Z,1736356926.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.00 m.
2025-01-08T17:22:06.791Z,1736356926.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.000000 m,
      nav range: 426.351807 m,
      bearing: 265.941945 deg,
      approach rate: -0.570437 m/s,
      LOS rate: -0.010284 deg/s,
      cmd heading: 270.047812 deg,
      new cmd heading: 270.033277 deg.

2025-01-08T17:22:06.796Z,1736356926.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712970 target range: 429.000000 and range: 429.00 m.
2025-01-08T17:22:06.923Z,1736356926.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769787
2025-01-08T17:22:07.175Z,1736356927.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021556
2025-01-08T17:22:07.194Z,1736356927.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:07.231Z,1736356927.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 429.00 m.
2025-01-08T17:22:07.238Z,1736356927.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 429.000000 m,
      nav range: 426.076630 m,
      bearing: 265.937130 deg,
      approach rate: -0.622112 m/s,
      LOS rate: -0.010893 deg/s,
      cmd heading: 270.033277 deg,
      new cmd heading: 270.018822 deg.

2025-01-08T17:22:07.239Z,1736356927.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712718 target range: 429.000000 and range: 429.00 m.
2025-01-08T17:22:07.433Z,1736356927.433 [DAT](INFO): DAT read: 17:22:05.4549 LVL= 24352, 32753, 22322, 32755, AGC= 67, IDX= 408, 0.30, 1.835, 0.403, 1.789, 1.246, PHS= 0.677,-0.796, 0.540, RAW= 145.2,  -6.0, CAL= 150.8, -15.0, ROT= 359.2,  15.0

2025-01-08T17:22:07.434Z,1736356927.434 [DAT](INFO): got valid direction response:
 17:22:05.4549 LVL= 24352, 32753, 22322, 32755, AGC= 67, IDX= 408, 0.30, 1.835, 0.403, 1.789, 1.246, PHS= 0.677,-0.796, 0.540, RAW= 145.2,  -6.0, CAL= 150.8, -15.0, ROT= 359.2,  15.0

2025-01-08T17:22:07.435Z,1736356927.435 [DAT](INFO): DAT read: Bearing 359.2,  15.0 (Local)

2025-01-08T17:22:07.435Z,1736356927.435 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.2,  15.0 (Local)

2025-01-08T17:22:07.437Z,1736356927.437 [DAT](INFO): DAT read: Range 10 to 50 : 426.3 m  (Round-trip  568.4 ms) speed  0.4 m/s

2025-01-08T17:22:07.438Z,1736356927.438 [DAT](INFO): DAT read: user:86>

2025-01-08T17:22:07.438Z,1736356927.438 [DAT](INFO): DAT read: Tx time:17:22:06.5324

2025-01-08T17:22:07.439Z,1736356927.439 [DAT](INFO): Ping request sent.
2025-01-08T17:22:07.439Z,1736356927.439 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:22:07.440Z,1736356927.440 [DAT](INFO): DAT read: TxSync time:17:22:06.5317

2025-01-08T17:22:07.440Z,1736356927.440 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:22:07.441Z,1736356927.441 [DAT](INFO): direction in FSK: [0.965832,-0.013486,-0.258819]
2025-01-08T17:22:07.441Z,1736356927.441 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:07.441Z,1736356927.441 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:07.445Z,1736356927.445 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:07.445Z,1736356927.445 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:07.578Z,1736356927.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:07.613Z,1736356927.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 426.299988 m,
      deltaT: 4.284153 s,
      deltaX: -2.700012 m,
      approachRate: -0.630232 m/s,
      rangeRepo size: 4

2025-01-08T17:22:07.624Z,1736356927.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 426.299988 m,
      bearing: 271.266367 deg,
      lat: 36.903919 deg,
      lon: -122.119235 deg,
      deltaT: 4.284153 s,
      deltaX: -2.700012 m,
      approachRate: -0.630232 m/s,
      posRepo size: 4

2025-01-08T17:22:07.625Z,1736356927.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.30 m.
2025-01-08T17:22:07.632Z,1736356927.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.299988 m,
      nav range: 422.989349 m,
      bearing: 267.895839 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010893 deg/s,
      cmd heading: 270.018825 deg,
      new cmd heading: 270.006355 deg.

2025-01-08T17:22:07.633Z,1736356927.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712500 target range: 426.299988 and range: 426.30 m.
2025-01-08T17:22:08.011Z,1736356928.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:08.035Z,1736356928.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.30 m.
2025-01-08T17:22:08.038Z,1736356928.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.299988 m,
      nav range: 422.756989 m,
      bearing: 267.893062 deg,
      approach rate: -0.555125 m/s,
      LOS rate: -0.006638 deg/s,
      cmd heading: 270.006366 deg,
      new cmd heading: 269.998030 deg.

2025-01-08T17:22:08.041Z,1736356928.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712355 target range: 426.299988 and range: 426.30 m.
2025-01-08T17:22:08.334Z,1736356928.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:08.341Z,1736356928.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:08.344Z,1736356928.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.30 m.
2025-01-08T17:22:08.346Z,1736356928.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.299988 m,
      nav range: 422.579620 m,
      bearing: 267.890929 deg,
      approach rate: -0.567567 m/s,
      LOS rate: -0.006827 deg/s,
      cmd heading: 269.998034 deg,
      new cmd heading: 269.991633 deg.

2025-01-08T17:22:08.348Z,1736356928.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712243 target range: 426.299988 and range: 426.30 m.
2025-01-08T17:22:08.433Z,1736356928.433 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:22:08.433Z,1736356928.433 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:22:08.433Z,1736356928.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:22:08.689Z,1736356928.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248917
2025-01-08T17:22:08.795Z,1736356928.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:08.832Z,1736356928.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.30 m.
2025-01-08T17:22:08.834Z,1736356928.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.299988 m,
      nav range: 422.330719 m,
      bearing: 267.887884 deg,
      approach rate: -0.514631 m/s,
      LOS rate: -0.006300 deg/s,
      cmd heading: 269.991641 deg,
      new cmd heading: 269.982500 deg.

2025-01-08T17:22:08.836Z,1736356928.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712083 target range: 426.299988 and range: 426.30 m.
2025-01-08T17:22:08.938Z,1736356928.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498857
2025-01-08T17:22:09.170Z,1736356929.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:09.188Z,1736356929.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749486
2025-01-08T17:22:09.204Z,1736356929.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.30 m.
2025-01-08T17:22:09.207Z,1736356929.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.299988 m,
      nav range: 422.129364 m,
      bearing: 267.885884 deg,
      approach rate: -0.534139 m/s,
      LOS rate: -0.005308 deg/s,
      cmd heading: 269.982488 deg,
      new cmd heading: 269.976485 deg.

2025-01-08T17:22:09.212Z,1736356929.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711978 target range: 426.299988 and range: 426.30 m.
2025-01-08T17:22:09.441Z,1736356929.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001790
2025-01-08T17:22:09.567Z,1736356929.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:09.575Z,1736356929.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.30 m.
2025-01-08T17:22:09.578Z,1736356929.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.299988 m,
      nav range: 421.917542 m,
      bearing: 267.883729 deg,
      approach rate: -0.570638 m/s,
      LOS rate: -0.005809 deg/s,
      cmd heading: 269.976478 deg,
      new cmd heading: 269.970008 deg.

2025-01-08T17:22:09.579Z,1736356929.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711865 target range: 426.299988 and range: 426.30 m.
2025-01-08T17:22:09.693Z,1736356929.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254428
2025-01-08T17:22:09.944Z,1736356929.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505579
2025-01-08T17:22:10.014Z,1736356930.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:10.024Z,1736356930.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.30 m.
2025-01-08T17:22:10.027Z,1736356930.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.299988 m,
      nav range: 421.669037 m,
      bearing: 267.881594 deg,
      approach rate: -0.553640 m/s,
      LOS rate: -0.004761 deg/s,
      cmd heading: 269.970002 deg,
      new cmd heading: 269.963592 deg.

2025-01-08T17:22:10.028Z,1736356930.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711753 target range: 426.299988 and range: 426.30 m.
2025-01-08T17:22:10.196Z,1736356930.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757416
2025-01-08T17:22:10.357Z,1736356930.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:10.363Z,1736356930.363 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:10.366Z,1736356930.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.30 m.
2025-01-08T17:22:10.369Z,1736356930.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.299988 m,
      nav range: 421.478729 m,
      bearing: 267.879886 deg,
      approach rate: -0.556027 m/s,
      LOS rate: -0.004991 deg/s,
      cmd heading: 269.963582 deg,
      new cmd heading: 269.958457 deg.

2025-01-08T17:22:10.370Z,1736356930.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711664 target range: 426.299988 and range: 426.30 m.
2025-01-08T17:22:10.449Z,1736356930.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010446
2025-01-08T17:22:10.701Z,1736356930.701 [DAT](INFO): DAT read: Rx Time:17:22:09.5022

2025-01-08T17:22:10.701Z,1736356930.701 [DAT](INFO): Rx dataTimestamp_ set to:1736356930.701216
2025-01-08T17:22:10.702Z,1736356930.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263643
2025-01-08T17:22:10.848Z,1736356930.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:10.857Z,1736356930.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.30 m.
2025-01-08T17:22:10.860Z,1736356930.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.299988 m,
      nav range: 421.205719 m,
      bearing: 267.877434 deg,
      approach rate: -0.556519 m/s,
      LOS rate: -0.005002 deg/s,
      cmd heading: 269.958446 deg,
      new cmd heading: 269.951084 deg.

2025-01-08T17:22:10.861Z,1736356930.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711535 target range: 426.299988 and range: 426.30 m.
2025-01-08T17:22:10.954Z,1736356930.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515085
2025-01-08T17:22:11.164Z,1736356931.164 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010809231614,35.0, +11.2,   0.0,1494.4RA,  0.00,  65.96,  56.44,  59.16,  62I,32768,-32768,-32768,V
2025-01-08T17:22:11.172Z,1736356931.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.3 s old, using for 20.0 s.
2025-01-08T17:22:11.172Z,1736356931.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:11.180Z,1736356931.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.30 m.
2025-01-08T17:22:11.184Z,1736356931.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 426.299988 m,
      nav range: 421.026184 m,
      bearing: 267.875786 deg,
      approach rate: -0.554769 m/s,
      LOS rate: -0.005092 deg/s,
      cmd heading: 269.951097 deg,
      new cmd heading: 269.946153 deg.

2025-01-08T17:22:11.185Z,1736356931.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711449 target range: 426.299988 and range: 426.30 m.
2025-01-08T17:22:11.207Z,1736356931.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767595
2025-01-08T17:22:11.462Z,1736356931.462 [DAT](INFO): DAT read: 17:22:09.5022 LVL= 23232, 27697, 20466, 32755, AGC= 70, IDX= 412,-0.12, 1.904, 0.400, 1.915, 1.166, PHS= 0.825,-0.719, 0.746, RAW= 147.4, -11.3, CAL= 154.4, -19.6, ROT= 355.6,  19.6

2025-01-08T17:22:11.464Z,1736356931.464 [DAT](INFO): got valid direction response:
 17:22:09.5022 LVL= 23232, 27697, 20466, 32755, AGC= 70, IDX= 412,-0.12, 1.904, 0.400, 1.915, 1.166, PHS= 0.825,-0.719, 0.746, RAW= 147.4, -11.3, CAL= 154.4, -19.6, ROT= 355.6,  19.6

2025-01-08T17:22:11.465Z,1736356931.465 [DAT](INFO): DAT read: Bearing 355.6,  19.6 (Local)

2025-01-08T17:22:11.465Z,1736356931.465 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.6,  19.6 (Local)

2025-01-08T17:22:11.467Z,1736356931.467 [DAT](INFO): DAT read: Range 10 to 50 : 424.2 m  (Round-trip  565.6 ms) speed  0.3 m/s

2025-01-08T17:22:11.468Z,1736356931.468 [DAT](INFO): DAT read: user:87>

2025-01-08T17:22:11.469Z,1736356931.469 [DAT](INFO): DAT read: Tx time:17:22:10.5825

2025-01-08T17:22:11.469Z,1736356931.469 [DAT](INFO): Ping request sent.
2025-01-08T17:22:11.469Z,1736356931.469 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:22:11.470Z,1736356931.470 [DAT](INFO): DAT read: TxSync time:17:22:10.5817

2025-01-08T17:22:11.470Z,1736356931.470 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:22:11.471Z,1736356931.471 [DAT](INFO): direction in FSK: [0.939281,-0.072274,-0.335452]
2025-01-08T17:22:11.472Z,1736356931.472 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:11.472Z,1736356931.472 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:11.475Z,1736356931.475 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:11.478Z,1736356931.478 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:11.590Z,1736356931.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.7 s old, using for 20.0 s.
2025-01-08T17:22:11.590Z,1736356931.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:11.621Z,1736356931.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 424.200012 m,
      deltaT: 4.031541 s,
      deltaX: -2.099976 m,
      approachRate: -0.520887 m/s,
      rangeRepo size: 4

2025-01-08T17:22:11.627Z,1736356931.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 424.200012 m,
      bearing: 268.919127 deg,
      lat: 36.903991 deg,
      lon: -122.119189 deg,
      deltaT: 4.031541 s,
      deltaX: -2.099976 m,
      approachRate: -0.520887 m/s,
      posRepo size: 4

2025-01-08T17:22:11.628Z,1736356931.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.20 m.
2025-01-08T17:22:11.640Z,1736356931.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.200012 m,
      nav range: 416.484924 m,
      bearing: 268.951168 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005092 deg/s,
      cmd heading: 269.946151 deg,
      new cmd heading: 269.939431 deg.

2025-01-08T17:22:11.641Z,1736356931.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711332 target range: 424.200012 and range: 424.20 m.
2025-01-08T17:22:12.010Z,1736356932.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:12.035Z,1736356932.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.20 m.
2025-01-08T17:22:12.049Z,1736356932.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.200012 m,
      nav range: 416.214325 m,
      bearing: 268.951507 deg,
      approach rate: -0.653260 m/s,
      LOS rate: 0.000821 deg/s,
      cmd heading: 269.939431 deg,
      new cmd heading: 269.940451 deg.

2025-01-08T17:22:12.050Z,1736356932.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711349 target range: 424.200012 and range: 424.20 m.
2025-01-08T17:22:12.399Z,1736356932.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:12.405Z,1736356932.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:12.408Z,1736356932.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.20 m.
2025-01-08T17:22:12.410Z,1736356932.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.200012 m,
      nav range: 415.964264 m,
      bearing: 268.951969 deg,
      approach rate: -0.670709 m/s,
      LOS rate: 0.001239 deg/s,
      cmd heading: 269.940441 deg,
      new cmd heading: 269.941827 deg.

2025-01-08T17:22:12.412Z,1736356932.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711374 target range: 424.200012 and range: 424.20 m.
2025-01-08T17:22:12.465Z,1736356932.465 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:22:12.465Z,1736356932.465 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:22:12.466Z,1736356932.466 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:22:12.717Z,1736356932.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247409
2025-01-08T17:22:12.790Z,1736356932.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:12.800Z,1736356932.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.20 m.
2025-01-08T17:22:12.808Z,1736356932.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.200012 m,
      nav range: 415.712280 m,
      bearing: 268.952507 deg,
      approach rate: -0.643183 m/s,
      LOS rate: 0.001375 deg/s,
      cmd heading: 269.941835 deg,
      new cmd heading: 269.943451 deg.

2025-01-08T17:22:12.812Z,1736356932.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711402 target range: 424.200012 and range: 424.20 m.
2025-01-08T17:22:12.968Z,1736356932.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499206
2025-01-08T17:22:13.220Z,1736356933.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751035
2025-01-08T17:22:13.222Z,1736356933.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:13.242Z,1736356933.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.20 m.
2025-01-08T17:22:13.250Z,1736356933.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.200012 m,
      nav range: 415.415283 m,
      bearing: 268.953315 deg,
      approach rate: -0.671213 m/s,
      LOS rate: 0.001826 deg/s,
      cmd heading: 269.943447 deg,
      new cmd heading: 269.945871 deg.

2025-01-08T17:22:13.251Z,1736356933.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711444 target range: 424.200012 and range: 424.20 m.
2025-01-08T17:22:13.476Z,1736356933.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007175
2025-01-08T17:22:13.596Z,1736356933.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:13.605Z,1736356933.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.20 m.
2025-01-08T17:22:13.608Z,1736356933.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.200012 m,
      nav range: 415.157288 m,
      bearing: 268.953980 deg,
      approach rate: -0.709282 m/s,
      LOS rate: 0.001830 deg/s,
      cmd heading: 269.945878 deg,
      new cmd heading: 269.947876 deg.

2025-01-08T17:22:13.609Z,1736356933.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711479 target range: 424.200012 and range: 424.20 m.
2025-01-08T17:22:13.725Z,1736356933.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256370
2025-01-08T17:22:13.976Z,1736356933.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507248
2025-01-08T17:22:14.043Z,1736356934.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:14.071Z,1736356934.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.20 m.
2025-01-08T17:22:14.075Z,1736356934.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.200012 m,
      nav range: 414.821381 m,
      bearing: 268.954246 deg,
      approach rate: -0.748972 m/s,
      LOS rate: 0.000593 deg/s,
      cmd heading: 269.947873 deg,
      new cmd heading: 269.948671 deg.

2025-01-08T17:22:14.080Z,1736356934.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711493 target range: 424.200012 and range: 424.20 m.
2025-01-08T17:22:14.228Z,1736356934.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759281
2025-01-08T17:22:14.396Z,1736356934.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:14.405Z,1736356934.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.20 m.
2025-01-08T17:22:14.428Z,1736356934.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.200012 m,
      nav range: 414.555481 m,
      bearing: 268.954483 deg,
      approach rate: -0.756852 m/s,
      LOS rate: 0.000675 deg/s,
      cmd heading: 269.948665 deg,
      new cmd heading: 269.949376 deg.

2025-01-08T17:22:14.429Z,1736356934.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711505 target range: 424.200012 and range: 424.20 m.
2025-01-08T17:22:14.481Z,1736356934.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011709
2025-01-08T17:22:14.733Z,1736356934.733 [DAT](INFO): DAT read: Rx Time:17:22:13.5492

2025-01-08T17:22:14.733Z,1736356934.733 [DAT](INFO): Rx dataTimestamp_ set to:1736356934.732793
2025-01-08T17:22:14.734Z,1736356934.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264524
2025-01-08T17:22:14.807Z,1736356934.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:14.819Z,1736356934.819 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:14.821Z,1736356934.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.20 m.
2025-01-08T17:22:14.824Z,1736356934.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.200012 m,
      nav range: 414.246429 m,
      bearing: 268.954840 deg,
      approach rate: -0.743511 m/s,
      LOS rate: 0.000860 deg/s,
      cmd heading: 269.949375 deg,
      new cmd heading: 269.950448 deg.

2025-01-08T17:22:14.825Z,1736356934.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711524 target range: 424.200012 and range: 424.20 m.
2025-01-08T17:22:14.985Z,1736356934.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515680
2025-01-08T17:22:15.222Z,1736356935.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:15.236Z,1736356935.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767025
2025-01-08T17:22:15.269Z,1736356935.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 424.20 m.
2025-01-08T17:22:15.293Z,1736356935.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 424.200012 m,
      nav range: 413.922974 m,
      bearing: 268.954805 deg,
      approach rate: -0.723498 m/s,
      LOS rate: -0.000079 deg/s,
      cmd heading: 269.950441 deg,
      new cmd heading: 269.950334 deg.

2025-01-08T17:22:15.298Z,1736356935.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711522 target range: 424.200012 and range: 424.20 m.
2025-01-08T17:22:15.498Z,1736356935.498 [DAT](INFO): DAT read: 17:22:13.5492 LVL= 22448, 32753, 20626, 32755, AGC= 70, IDX= 413,-0.40, 0.055,-1.170, 0.078,-0.341, PHS= 0.485,-0.781, 0.416, RAW= 147.2,  -2.0, CAL= 151.4, -10.9, ROT= 358.6,  10.9

2025-01-08T17:22:15.507Z,1736356935.507 [DAT](INFO): got valid direction response:
 17:22:13.5492 LVL= 22448, 32753, 20626, 32755, AGC= 70, IDX= 413,-0.40, 0.055,-1.170, 0.078,-0.341, PHS= 0.485,-0.781, 0.416, RAW= 147.2,  -2.0, CAL= 151.4, -10.9, ROT= 358.6,  10.9

2025-01-08T17:22:15.520Z,1736356935.520 [DAT](INFO): DAT read: Bearing 358.6,  10.9 (Local)

2025-01-08T17:22:15.520Z,1736356935.520 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.6,  10.9 (Local)

2025-01-08T17:22:15.522Z,1736356935.522 [DAT](INFO): DAT read: Range 10 to 50 : 421.8 m  (Round-trip  562.5 ms) speed  0.3 m/s

2025-01-08T17:22:15.523Z,1736356935.523 [DAT](INFO): DAT read: user:88>

2025-01-08T17:22:15.543Z,1736356935.543 [DAT](INFO): DAT read: Tx time:17:22:14.6325

2025-01-08T17:22:15.543Z,1736356935.543 [DAT](INFO): Ping request sent.
2025-01-08T17:22:15.543Z,1736356935.543 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:22:15.544Z,1736356935.544 [DAT](INFO): DAT read: TxSync time:17:22:14.6317

2025-01-08T17:22:15.544Z,1736356935.544 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:22:15.545Z,1736356935.545 [DAT](INFO): direction in FSK: [0.981666,-0.023991,-0.189095]
2025-01-08T17:22:15.546Z,1736356935.546 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:15.546Z,1736356935.546 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:15.554Z,1736356935.554 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:15.554Z,1736356935.554 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:15.650Z,1736356935.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:15.682Z,1736356935.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 421.799988 m,
      deltaT: 4.035539 s,
      deltaX: -2.400024 m,
      approachRate: -0.594722 m/s,
      rangeRepo size: 4

2025-01-08T17:22:15.689Z,1736356935.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 421.799988 m,
      bearing: 270.181133 deg,
      lat: 36.903991 deg,
      lon: -122.119189 deg,
      deltaT: 4.035539 s,
      deltaX: -2.400024 m,
      approachRate: -0.594722 m/s,
      posRepo size: 4

2025-01-08T17:22:15.690Z,1736356935.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.80 m.
2025-01-08T17:22:15.699Z,1736356935.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.799988 m,
      nav range: 413.589783 m,
      bearing: 268.954864 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000079 deg/s,
      cmd heading: 269.950332 deg,
      new cmd heading: 269.950233 deg.

2025-01-08T17:22:15.709Z,1736356935.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711520 target range: 421.799988 and range: 421.80 m.
2025-01-08T17:22:16.065Z,1736356936.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:16.073Z,1736356936.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.80 m.
2025-01-08T17:22:16.076Z,1736356936.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.799988 m,
      nav range: 413.261932 m,
      bearing: 268.954029 deg,
      approach rate: -0.835262 m/s,
      LOS rate: -0.002129 deg/s,
      cmd heading: 269.950222 deg,
      new cmd heading: 269.947715 deg.

2025-01-08T17:22:16.077Z,1736356936.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711476 target range: 421.799988 and range: 421.80 m.
2025-01-08T17:22:16.417Z,1736356936.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:16.441Z,1736356936.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.80 m.
2025-01-08T17:22:16.444Z,1736356936.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.799988 m,
      nav range: 412.983490 m,
      bearing: 268.953522 deg,
      approach rate: -0.756594 m/s,
      LOS rate: -0.001379 deg/s,
      cmd heading: 269.947709 deg,
      new cmd heading: 269.946186 deg.

2025-01-08T17:22:16.445Z,1736356936.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711450 target range: 421.799988 and range: 421.80 m.
2025-01-08T17:22:16.827Z,1736356936.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:16.834Z,1736356936.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:16.837Z,1736356936.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.80 m.
2025-01-08T17:22:16.840Z,1736356936.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.799988 m,
      nav range: 412.659180 m,
      bearing: 268.953107 deg,
      approach rate: -0.819854 m/s,
      LOS rate: -0.001050 deg/s,
      cmd heading: 269.946179 deg,
      new cmd heading: 269.944933 deg.

2025-01-08T17:22:16.841Z,1736356936.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711428 target range: 421.799988 and range: 421.80 m.
2025-01-08T17:22:17.000Z,1736356937.000 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:22:17.000Z,1736356937.000 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:22:17.000Z,1736356937.000 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:22:17.252Z,1736356937.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.709405
2025-01-08T17:22:17.253Z,1736356937.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:17.262Z,1736356937.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.80 m.
2025-01-08T17:22:17.266Z,1736356937.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.799988 m,
      nav range: 412.336792 m,
      bearing: 268.951417 deg,
      approach rate: -0.758088 m/s,
      LOS rate: -0.003978 deg/s,
      cmd heading: 269.944922 deg,
      new cmd heading: 269.939847 deg.

2025-01-08T17:22:17.287Z,1736356937.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711339 target range: 421.799988 and range: 421.80 m.
2025-01-08T17:22:17.506Z,1736356937.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963284
2025-01-08T17:22:17.638Z,1736356937.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:17.646Z,1736356937.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.80 m.
2025-01-08T17:22:17.650Z,1736356937.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.799988 m,
      nav range: 412.046478 m,
      bearing: 268.949895 deg,
      approach rate: -0.755506 m/s,
      LOS rate: -0.003964 deg/s,
      cmd heading: 269.939840 deg,
      new cmd heading: 269.935271 deg.

2025-01-08T17:22:17.651Z,1736356937.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711259 target range: 421.799988 and range: 421.80 m.
2025-01-08T17:22:17.756Z,1736356937.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.213336
2025-01-08T17:22:18.009Z,1736356938.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465998
2025-01-08T17:22:18.079Z,1736356938.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:18.091Z,1736356938.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.80 m.
2025-01-08T17:22:18.094Z,1736356938.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.799988 m,
      nav range: 411.719391 m,
      bearing: 268.948627 deg,
      approach rate: -0.735365 m/s,
      LOS rate: -0.002853 deg/s,
      cmd heading: 269.935278 deg,
      new cmd heading: 269.931471 deg.

2025-01-08T17:22:18.095Z,1736356938.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711193 target range: 421.799988 and range: 421.80 m.
2025-01-08T17:22:18.260Z,1736356938.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.717224
2025-01-08T17:22:18.452Z,1736356938.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:18.460Z,1736356938.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.80 m.
2025-01-08T17:22:18.479Z,1736356938.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.799988 m,
      nav range: 411.442627 m,
      bearing: 268.947552 deg,
      approach rate: -0.749092 m/s,
      LOS rate: -0.002911 deg/s,
      cmd heading: 269.931480 deg,
      new cmd heading: 269.928254 deg.

2025-01-08T17:22:18.480Z,1736356938.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711137 target range: 421.799988 and range: 421.80 m.
2025-01-08T17:22:18.513Z,1736356938.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969822
2025-01-08T17:22:18.767Z,1736356938.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223344
2025-01-08T17:22:18.849Z,1736356938.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:18.856Z,1736356938.856 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:18.858Z,1736356938.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.80 m.
2025-01-08T17:22:18.860Z,1736356938.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.799988 m,
      nav range: 411.148346 m,
      bearing: 268.946347 deg,
      approach rate: -0.740848 m/s,
      LOS rate: -0.003035 deg/s,
      cmd heading: 269.928256 deg,
      new cmd heading: 269.924640 deg.

2025-01-08T17:22:18.861Z,1736356938.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711074 target range: 421.799988 and range: 421.80 m.
2025-01-08T17:22:19.017Z,1736356939.017 [DAT](INFO): DAT read: Rx Time:17:22:17.5950

2025-01-08T17:22:19.017Z,1736356939.017 [DAT](INFO): Rx dataTimestamp_ set to:1736356939.016925
2025-01-08T17:22:19.018Z,1736356939.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.474768
2025-01-08T17:22:19.268Z,1736356939.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.725389
2025-01-08T17:22:19.275Z,1736356939.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:19.297Z,1736356939.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 421.80 m.
2025-01-08T17:22:19.307Z,1736356939.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 421.799988 m,
      nav range: 410.849579 m,
      bearing: 268.944193 deg,
      approach rate: -0.682439 m/s,
      LOS rate: -0.004924 deg/s,
      cmd heading: 269.924650 deg,
      new cmd heading: 269.918182 deg.

2025-01-08T17:22:19.310Z,1736356939.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710961 target range: 421.799988 and range: 421.80 m.
2025-01-08T17:22:19.527Z,1736356939.527 [DAT](INFO): DAT read: 17:22:17.5950 LVL= 26768, 28401, 26786, 32755, AGC= 71, IDX= 401, 0.17, 1.965, 0.427, 1.887, 1.285, PHS= 0.768,-0.812, 0.599, RAW= 144.4,  -7.4, CAL= 150.5, -16.4, ROT= 359.5,  16.4

2025-01-08T17:22:19.528Z,1736356939.528 [DAT](INFO): got valid direction response:
 17:22:17.5950 LVL= 26768, 28401, 26786, 32755, AGC= 71, IDX= 401, 0.17, 1.965, 0.427, 1.887, 1.285, PHS= 0.768,-0.812, 0.599, RAW= 144.4,  -7.4, CAL= 150.5, -16.4, ROT= 359.5,  16.4

2025-01-08T17:22:19.529Z,1736356939.529 [DAT](INFO): DAT read: Bearing 359.5,  16.4 (Local)

2025-01-08T17:22:19.529Z,1736356939.529 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.5,  16.4 (Local)

2025-01-08T17:22:19.531Z,1736356939.531 [DAT](INFO): DAT read: Range 10 to 50 : 418.7 m  (Round-trip  558.3 ms) speed  0.8 m/s

2025-01-08T17:22:19.532Z,1736356939.532 [DAT](INFO): DAT read: user:89>

2025-01-08T17:22:19.533Z,1736356939.533 [DAT](INFO): DAT read: Tx time:17:22:18.6826

2025-01-08T17:22:19.534Z,1736356939.534 [DAT](INFO): Ping request sent.
2025-01-08T17:22:19.534Z,1736356939.534 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:22:19.534Z,1736356939.534 [DAT](INFO): DAT read: TxSync time:17:22:18.6818

2025-01-08T17:22:19.535Z,1736356939.535 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:22:19.557Z,1736356939.557 [DAT](INFO): direction in FSK: [0.959277,-0.008371,-0.282341]
2025-01-08T17:22:19.557Z,1736356939.557 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:19.557Z,1736356939.557 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:19.566Z,1736356939.566 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:19.566Z,1736356939.566 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:19.668Z,1736356939.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:19.723Z,1736356939.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 418.700012 m,
      deltaT: 4.028597 s,
      deltaX: -3.099976 m,
      approachRate: -0.769493 m/s,
      rangeRepo size: 4

2025-01-08T17:22:19.729Z,1736356939.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 418.700012 m,
      bearing: 271.400151 deg,
      lat: 36.904071 deg,
      lon: -122.119123 deg,
      deltaT: 4.028597 s,
      deltaX: -3.099976 m,
      approachRate: -0.769493 m/s,
      posRepo size: 4

2025-01-08T17:22:19.730Z,1736356939.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.70 m.
2025-01-08T17:22:19.745Z,1736356939.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.700012 m,
      nav range: 404.656189 m,
      bearing: 270.182780 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004924 deg/s,
      cmd heading: 269.918175 deg,
      new cmd heading: 269.911881 deg.

2025-01-08T17:22:19.746Z,1736356939.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710851 target range: 418.700012 and range: 418.70 m.
2025-01-08T17:22:20.083Z,1736356940.083 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:20.092Z,1736356940.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.70 m.
2025-01-08T17:22:20.094Z,1736356940.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.700012 m,
      nav range: 404.389282 m,
      bearing: 270.182384 deg,
      approach rate: -0.720659 m/s,
      LOS rate: -0.001071 deg/s,
      cmd heading: 269.911891 deg,
      new cmd heading: 269.910702 deg.

2025-01-08T17:22:20.096Z,1736356940.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710830 target range: 418.700012 and range: 418.70 m.
2025-01-08T17:22:20.459Z,1736356940.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:20.480Z,1736356940.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.70 m.
2025-01-08T17:22:20.484Z,1736356940.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.700012 m,
      nav range: 404.147614 m,
      bearing: 270.181971 deg,
      approach rate: -0.622583 m/s,
      LOS rate: -0.001063 deg/s,
      cmd heading: 269.910689 deg,
      new cmd heading: 269.909451 deg.

2025-01-08T17:22:20.485Z,1736356940.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710809 target range: 418.700012 and range: 418.70 m.
2025-01-08T17:22:20.865Z,1736356940.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:20.872Z,1736356940.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:20.874Z,1736356940.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.70 m.
2025-01-08T17:22:20.877Z,1736356940.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.700012 m,
      nav range: 403.886169 m,
      bearing: 270.181458 deg,
      approach rate: -0.663591 m/s,
      LOS rate: -0.001303 deg/s,
      cmd heading: 269.909460 deg,
      new cmd heading: 269.907920 deg.

2025-01-08T17:22:20.878Z,1736356940.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710782 target range: 418.700012 and range: 418.70 m.
2025-01-08T17:22:21.037Z,1736356941.037 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:22:21.037Z,1736356941.037 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:22:21.037Z,1736356941.037 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:22:21.283Z,1736356941.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:21.288Z,1736356941.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754608
2025-01-08T17:22:21.312Z,1736356941.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.70 m.
2025-01-08T17:22:21.327Z,1736356941.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.700012 m,
      nav range: 403.629547 m,
      bearing: 270.180037 deg,
      approach rate: -0.592203 m/s,
      LOS rate: -0.003283 deg/s,
      cmd heading: 269.907930 deg,
      new cmd heading: 269.903662 deg.

2025-01-08T17:22:21.328Z,1736356941.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710708 target range: 418.700012 and range: 418.70 m.
2025-01-08T17:22:21.540Z,1736356941.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006739
2025-01-08T17:22:21.674Z,1736356941.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:21.684Z,1736356941.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.70 m.
2025-01-08T17:22:21.687Z,1736356941.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.700012 m,
      nav range: 403.389008 m,
      bearing: 270.178549 deg,
      approach rate: -0.639362 m/s,
      LOS rate: -0.003955 deg/s,
      cmd heading: 269.903668 deg,
      new cmd heading: 269.899203 deg.

2025-01-08T17:22:21.688Z,1736356941.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710630 target range: 418.700012 and range: 418.70 m.
2025-01-08T17:22:21.792Z,1736356941.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258782
2025-01-08T17:22:22.044Z,1736356942.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510475
2025-01-08T17:22:22.113Z,1736356942.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:22.130Z,1736356942.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.70 m.
2025-01-08T17:22:22.144Z,1736356942.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.700012 m,
      nav range: 403.125061 m,
      bearing: 270.176776 deg,
      approach rate: -0.591289 m/s,
      LOS rate: -0.003974 deg/s,
      cmd heading: 269.899214 deg,
      new cmd heading: 269.893892 deg.

2025-01-08T17:22:22.145Z,1736356942.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710537 target range: 418.700012 and range: 418.70 m.
2025-01-08T17:22:22.296Z,1736356942.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762529
2025-01-08T17:22:22.348Z,1736356942.348 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:22:22.485Z,1736356942.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:22.493Z,1736356942.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.70 m.
2025-01-08T17:22:22.496Z,1736356942.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.700012 m,
      nav range: 402.901825 m,
      bearing: 270.175172 deg,
      approach rate: -0.614897 m/s,
      LOS rate: -0.004423 deg/s,
      cmd heading: 269.893887 deg,
      new cmd heading: 269.889070 deg.

2025-01-08T17:22:22.497Z,1736356942.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710453 target range: 418.700012 and range: 418.70 m.
2025-01-08T17:22:22.549Z,1736356942.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015325
2025-01-08T17:22:22.800Z,1736356942.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266579
2025-01-08T17:22:22.880Z,1736356942.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:22.889Z,1736356942.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:22.891Z,1736356942.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.70 m.
2025-01-08T17:22:22.910Z,1736356942.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.700012 m,
      nav range: 402.663971 m,
      bearing: 270.173387 deg,
      approach rate: -0.598203 m/s,
      LOS rate: -0.004490 deg/s,
      cmd heading: 269.889078 deg,
      new cmd heading: 269.883723 deg.

2025-01-08T17:22:22.919Z,1736356942.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710360 target range: 418.700012 and range: 418.70 m.
2025-01-08T17:22:23.058Z,1736356943.058 [DAT](INFO): DAT read: Rx Time:17:22:21.6541

2025-01-08T17:22:23.060Z,1736356943.060 [DAT](INFO): Rx dataTimestamp_ set to:1736356943.059429
2025-01-08T17:22:23.060Z,1736356943.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526601
2025-01-08T17:22:23.304Z,1736356943.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770606
2025-01-08T17:22:23.353Z,1736356943.353 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:22:23.410Z,1736356943.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:23.427Z,1736356943.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 418.70 m.
2025-01-08T17:22:23.434Z,1736356943.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 418.700012 m,
      nav range: 402.348907 m,
      bearing: 270.171551 deg,
      approach rate: -0.587630 m/s,
      LOS rate: -0.003429 deg/s,
      cmd heading: 269.883724 deg,
      new cmd heading: 269.878209 deg.

2025-01-08T17:22:23.435Z,1736356943.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710263 target range: 418.700012 and range: 418.70 m.
2025-01-08T17:22:23.569Z,1736356943.569 [DAT](INFO): DAT read: 17:22:21.6541 LVL= 14176, 17473, 11330, 17875, AGC= 68, IDX=  30,-0.08, 2.941, 1.437, 2.976, 2.279, PHS= 0.750,-0.794, 0.694, RAW= 148.2,  -8.6, CAL= 154.3, -17.0, ROT= 355.7,  17.0

2025-01-08T17:22:23.570Z,1736356943.570 [DAT](INFO): got valid direction response:
 17:22:21.6541 LVL= 14176, 17473, 11330, 17875, AGC= 68, IDX=  30,-0.08, 2.941, 1.437, 2.976, 2.279, PHS= 0.750,-0.794, 0.694, RAW= 148.2,  -8.6, CAL= 154.3, -17.0, ROT= 355.7,  17.0

2025-01-08T17:22:23.571Z,1736356943.571 [DAT](INFO): DAT read: Bearing 355.7,  17.0 (Local)

2025-01-08T17:22:23.571Z,1736356943.571 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.7,  17.0 (Local)

2025-01-08T17:22:23.573Z,1736356943.573 [DAT](INFO): DAT read: Range 10 to 50 : 425.4 m  (Round-trip  567.3 ms) speed  0.5 m/s

2025-01-08T17:22:23.574Z,1736356943.574 [DAT](INFO): DAT read: user:90>

2025-01-08T17:22:23.575Z,1736356943.575 [DAT](INFO): DAT read: Tx time:17:22:22.7326

2025-01-08T17:22:23.575Z,1736356943.575 [DAT](INFO): Ping request sent.
2025-01-08T17:22:23.575Z,1736356943.575 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:22:23.576Z,1736356943.576 [DAT](INFO): DAT read: TxSync time:17:22:22.7318

2025-01-08T17:22:23.576Z,1736356943.576 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:22:23.577Z,1736356943.577 [DAT](INFO): direction in FSK: [0.953613,-0.071702,-0.292372]
2025-01-08T17:22:23.578Z,1736356943.578 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:23.578Z,1736356943.578 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:23.582Z,1736356943.582 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:23.582Z,1736356943.582 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:23.789Z,1736356943.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:23.825Z,1736356943.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 425.399994 m,
      deltaT: 4.036272 s,
      deltaX: 6.699982 m,
      approachRate: 1.659943 m/s,
      rangeRepo size: 4

2025-01-08T17:22:23.827Z,1736356943.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 425.399994 m,
      bearing: 269.433870 deg,
      lat: 36.904071 deg,
      lon: -122.119185 deg,
      deltaT: 4.036272 s,
      deltaX: 6.699982 m,
      approachRate: 1.659943 m/s,
      posRepo size: 4

2025-01-08T17:22:23.832Z,1736356943.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.40 m.
2025-01-08T17:22:23.835Z,1736356943.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.399994 m,
      nav range: 407.624359 m,
      bearing: 270.167967 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003429 deg/s,
      cmd heading: 269.878205 deg,
      new cmd heading: 269.874169 deg.

2025-01-08T17:22:23.840Z,1736356943.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710193 target range: 425.399994 and range: 425.40 m.
2025-01-08T17:22:24.277Z,1736356944.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:24.302Z,1736356944.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.40 m.
2025-01-08T17:22:24.309Z,1736356944.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.399994 m,
      nav range: 407.326752 m,
      bearing: 270.166492 deg,
      approach rate: -0.616777 m/s,
      LOS rate: -0.003061 deg/s,
      cmd heading: 269.874161 deg,
      new cmd heading: 269.869731 deg.

2025-01-08T17:22:24.310Z,1736356944.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710115 target range: 425.399994 and range: 425.40 m.
2025-01-08T17:22:24.643Z,1736356944.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:24.652Z,1736356944.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.40 m.
2025-01-08T17:22:24.655Z,1736356944.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.399994 m,
      nav range: 407.103607 m,
      bearing: 270.165456 deg,
      approach rate: -0.636381 m/s,
      LOS rate: -0.002955 deg/s,
      cmd heading: 269.869735 deg,
      new cmd heading: 269.866627 deg.

2025-01-08T17:22:24.656Z,1736356944.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710061 target range: 425.399994 and range: 425.40 m.
2025-01-08T17:22:25.096Z,1736356945.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:25.104Z,1736356945.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:25.106Z,1736356945.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.40 m.
2025-01-08T17:22:25.109Z,1736356945.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.399994 m,
      nav range: 406.819641 m,
      bearing: 270.164978 deg,
      approach rate: -0.625938 m/s,
      LOS rate: -0.001054 deg/s,
      cmd heading: 269.866621 deg,
      new cmd heading: 269.865187 deg.

2025-01-08T17:22:25.110Z,1736356945.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710036 target range: 425.399994 and range: 425.40 m.
2025-01-08T17:22:25.321Z,1736356945.321 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:22:25.321Z,1736356945.321 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:22:25.322Z,1736356945.322 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:22:25.452Z,1736356945.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:25.460Z,1736356945.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.40 m.
2025-01-08T17:22:25.462Z,1736356945.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.399994 m,
      nav range: 406.596741 m,
      bearing: 270.164575 deg,
      approach rate: -0.629708 m/s,
      LOS rate: -0.001139 deg/s,
      cmd heading: 269.865200 deg,
      new cmd heading: 269.863990 deg.

2025-01-08T17:22:25.465Z,1736356945.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710015 target range: 425.399994 and range: 425.40 m.
2025-01-08T17:22:25.573Z,1736356945.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998247
2025-01-08T17:22:25.824Z,1736356945.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249322
2025-01-08T17:22:25.852Z,1736356945.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:25.860Z,1736356945.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.40 m.
2025-01-08T17:22:25.863Z,1736356945.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.399994 m,
      nav range: 406.345886 m,
      bearing: 270.164139 deg,
      approach rate: -0.626574 m/s,
      LOS rate: -0.001090 deg/s,
      cmd heading: 269.863998 deg,
      new cmd heading: 269.862689 deg.

2025-01-08T17:22:25.865Z,1736356945.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709992 target range: 425.399994 and range: 425.40 m.
2025-01-08T17:22:26.081Z,1736356946.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506300
2025-01-08T17:22:26.309Z,1736356946.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:26.330Z,1736356946.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754801
2025-01-08T17:22:26.335Z,1736356946.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.40 m.
2025-01-08T17:22:26.338Z,1736356946.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.399994 m,
      nav range: 406.051941 m,
      bearing: 270.163443 deg,
      approach rate: -0.620879 m/s,
      LOS rate: -0.001471 deg/s,
      cmd heading: 269.862687 deg,
      new cmd heading: 269.860597 deg.

2025-01-08T17:22:26.339Z,1736356946.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709956 target range: 425.399994 and range: 425.40 m.
2025-01-08T17:22:26.581Z,1736356946.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005992
2025-01-08T17:22:26.663Z,1736356946.663 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:26.673Z,1736356946.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.40 m.
2025-01-08T17:22:26.676Z,1736356946.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.399994 m,
      nav range: 405.823364 m,
      bearing: 270.162980 deg,
      approach rate: -0.673959 m/s,
      LOS rate: -0.001366 deg/s,
      cmd heading: 269.860610 deg,
      new cmd heading: 269.859220 deg.

2025-01-08T17:22:26.677Z,1736356946.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709932 target range: 425.399994 and range: 425.40 m.
2025-01-08T17:22:26.833Z,1736356946.833 [DAT](INFO): DAT read: Rx Time:17:22:25.6744

2025-01-08T17:22:26.833Z,1736356946.833 [DAT](INFO): Rx dataTimestamp_ set to:1736356946.832806
2025-01-08T17:22:26.834Z,1736356946.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258715
2025-01-08T17:22:27.084Z,1736356947.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509470
2025-01-08T17:22:27.126Z,1736356947.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:27.134Z,1736356947.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:27.136Z,1736356947.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.40 m.
2025-01-08T17:22:27.139Z,1736356947.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.399994 m,
      nav range: 405.512817 m,
      bearing: 270.162454 deg,
      approach rate: -0.670111 m/s,
      LOS rate: -0.001137 deg/s,
      cmd heading: 269.859217 deg,
      new cmd heading: 269.857636 deg.

2025-01-08T17:22:27.140Z,1736356947.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709904 target range: 425.399994 and range: 425.40 m.
2025-01-08T17:22:27.338Z,1736356947.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762779
2025-01-08T17:22:27.468Z,1736356947.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:27.476Z,1736356947.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.40 m.
2025-01-08T17:22:27.479Z,1736356947.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.399994 m,
      nav range: 405.283569 m,
      bearing: 270.162107 deg,
      approach rate: -0.674658 m/s,
      LOS rate: -0.001022 deg/s,
      cmd heading: 269.857632 deg,
      new cmd heading: 269.856591 deg.

2025-01-08T17:22:27.480Z,1736356947.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709886 target range: 425.399994 and range: 425.40 m.
2025-01-08T17:22:27.596Z,1736356947.596 [DAT](INFO): DAT read: 17:22:25.6745 LVL= 25392, 32753, 23538, 32755, AGC= 68, IDX= 278, 0.28, 2.921, 1.311, 2.934, 2.171, PHS= 0.838,-0.813, 0.760, RAW= 147.6,  -9.8, CAL= 154.1, -18.1, ROT= 355.9,  18.1

2025-01-08T17:22:27.598Z,1736356947.598 [DAT](INFO): got valid direction response:
 17:22:25.6745 LVL= 25392, 32753, 23538, 32755, AGC= 68, IDX= 278, 0.28, 2.921, 1.311, 2.934, 2.171, PHS= 0.838,-0.813, 0.760, RAW= 147.6,  -9.8, CAL= 154.1, -18.1, ROT= 355.9,  18.1

2025-01-08T17:22:27.599Z,1736356947.599 [DAT](INFO): DAT read: Bearing 355.9,  18.1 (Local)

2025-01-08T17:22:27.600Z,1736356947.600 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.9,  18.1 (Local)

2025-01-08T17:22:27.602Z,1736356947.602 [DAT](INFO): DAT read: Range 10 to 50 : 403.2 m  (Round-trip  537.6 ms) speed  0.5 m/s

2025-01-08T17:22:27.603Z,1736356947.603 [DAT](INFO): DAT read: user:91>

2025-01-08T17:22:27.612Z,1736356947.612 [DAT](INFO): DAT read: Tx time:17:22:26.7827

2025-01-08T17:22:27.612Z,1736356947.612 [DAT](INFO): Ping request sent.
2025-01-08T17:22:27.612Z,1736356947.612 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:22:27.612Z,1736356947.612 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:22:27.616Z,1736356947.616 [DAT](INFO): direction in FSK: [0.948083,-0.067960,-0.310676]
2025-01-08T17:22:27.617Z,1736356947.617 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:27.618Z,1736356947.618 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:27.626Z,1736356947.626 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:27.626Z,1736356947.626 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:27.840Z,1736356947.840 [DAT](INFO): DAT read: TxSync time:17:22:26.7819

2025-01-08T17:22:27.876Z,1736356947.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:27.919Z,1736356947.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 403.200012 m,
 deltaT: 4.032281 s,
 deltaX: -22.199982 m,
 approachRate: -5.505564 m/s,
 rangeRepo size: 4
2025-01-08T17:22:27.924Z,1736356947.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.40 m.
2025-01-08T17:22:27.926Z,1736356947.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.399994 m,
      nav range: 405.009338 m,
      bearing: 270.161764 deg,
      approach rate: -0.620412 m/s,
      LOS rate: -0.000776 deg/s,
      cmd heading: 269.856594 deg,
      new cmd heading: 269.855565 deg.

2025-01-08T17:22:27.932Z,1736356947.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709868 target range: 425.399994 and range: 425.40 m.
2025-01-08T17:22:28.306Z,1736356948.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:28.320Z,1736356948.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.40 m.
2025-01-08T17:22:28.322Z,1736356948.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.399994 m,
      nav range: 404.714813 m,
      bearing: 270.161770 deg,
      approach rate: -0.734045 m/s,
      LOS rate: 0.000014 deg/s,
      cmd heading: 269.855556 deg,
      new cmd heading: 269.855572 deg.

2025-01-08T17:22:28.323Z,1736356948.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709868 target range: 425.399994 and range: 425.40 m.
2025-01-08T17:22:28.681Z,1736356948.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:28.692Z,1736356948.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.40 m.
2025-01-08T17:22:28.697Z,1736356948.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.399994 m,
      nav range: 404.458466 m,
      bearing: 270.161843 deg,
      approach rate: -0.688968 m/s,
      LOS rate: 0.000196 deg/s,
      cmd heading: 269.855583 deg,
      new cmd heading: 269.855802 deg.

2025-01-08T17:22:28.699Z,1736356948.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709872 target range: 425.399994 and range: 425.40 m.
2025-01-08T17:22:29.142Z,1736356949.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:29.150Z,1736356949.150 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:29.152Z,1736356949.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.40 m.
2025-01-08T17:22:29.155Z,1736356949.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.399994 m,
      nav range: 404.127960 m,
      bearing: 270.161554 deg,
      approach rate: -0.717501 m/s,
      LOS rate: -0.000626 deg/s,
      cmd heading: 269.855802 deg,
      new cmd heading: 269.854936 deg.

2025-01-08T17:22:29.176Z,1736356949.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709857 target range: 425.399994 and range: 425.40 m.
2025-01-08T17:22:29.352Z,1736356949.352 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:22:29.352Z,1736356949.352 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:22:29.352Z,1736356949.352 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:22:29.497Z,1736356949.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:29.506Z,1736356949.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.40 m.
2025-01-08T17:22:29.509Z,1736356949.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.399994 m,
      nav range: 403.874268 m,
      bearing: 270.161290 deg,
      approach rate: -0.717264 m/s,
      LOS rate: -0.000748 deg/s,
      cmd heading: 269.854927 deg,
      new cmd heading: 269.854134 deg.

2025-01-08T17:22:29.510Z,1736356949.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709843 target range: 425.399994 and range: 425.40 m.
2025-01-08T17:22:29.610Z,1736356949.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998190
2025-01-08T17:22:29.860Z,1736356949.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248093
2025-01-08T17:22:29.908Z,1736356949.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:29.918Z,1736356949.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.40 m.
2025-01-08T17:22:29.921Z,1736356949.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.399994 m,
      nav range: 403.579376 m,
      bearing: 270.160961 deg,
      approach rate: -0.715566 m/s,
      LOS rate: -0.000799 deg/s,
      cmd heading: 269.854135 deg,
      new cmd heading: 269.853147 deg.

2025-01-08T17:22:29.922Z,1736356949.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709826 target range: 425.399994 and range: 425.40 m.
2025-01-08T17:22:30.119Z,1736356950.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506145
2025-01-08T17:22:30.337Z,1736356950.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:30.351Z,1736356950.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.40 m.
2025-01-08T17:22:30.361Z,1736356950.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.399994 m,
      nav range: 403.262726 m,
      bearing: 270.160011 deg,
      approach rate: -0.731769 m/s,
      LOS rate: -0.002198 deg/s,
      cmd heading: 269.853152 deg,
      new cmd heading: 269.850299 deg.

2025-01-08T17:22:30.362Z,1736356950.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709776 target range: 425.399994 and range: 425.40 m.
2025-01-08T17:22:30.364Z,1736356950.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752200
2025-01-08T17:22:30.617Z,1736356950.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004846
2025-01-08T17:22:30.711Z,1736356950.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:30.726Z,1736356950.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.40 m.
2025-01-08T17:22:30.729Z,1736356950.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.399994 m,
      nav range: 402.986633 m,
      bearing: 270.159205 deg,
      approach rate: -0.734623 m/s,
      LOS rate: -0.002147 deg/s,
      cmd heading: 269.850310 deg,
      new cmd heading: 269.847890 deg.

2025-01-08T17:22:30.731Z,1736356950.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709734 target range: 425.399994 and range: 425.40 m.
2025-01-08T17:22:30.870Z,1736356950.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257768
2025-01-08T17:22:31.124Z,1736356951.124 [DAT](INFO): DAT read: Rx Time:17:22:29.7345

2025-01-08T17:22:31.125Z,1736356951.125 [DAT](INFO): Rx dataTimestamp_ set to:1736356951.124418
2025-01-08T17:22:31.129Z,1736356951.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514996
2025-01-08T17:22:31.228Z,1736356951.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:31.238Z,1736356951.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:31.245Z,1736356951.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.40 m.
2025-01-08T17:22:31.252Z,1736356951.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.399994 m,
      nav range: 402.599365 m,
      bearing: 270.157081 deg,
      approach rate: -0.746593 m/s,
      LOS rate: -0.004097 deg/s,
      cmd heading: 269.847879 deg,
      new cmd heading: 269.841503 deg.

2025-01-08T17:22:31.253Z,1736356951.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709623 target range: 425.399994 and range: 425.40 m.
2025-01-08T17:22:31.372Z,1736356951.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760041
2025-01-08T17:22:31.573Z,1736356951.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:31.586Z,1736356951.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.40 m.
2025-01-08T17:22:31.601Z,1736356951.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 425.399994 m,
      nav range: 402.341034 m,
      bearing: 270.155691 deg,
      approach rate: -0.757814 m/s,
      LOS rate: -0.004080 deg/s,
      cmd heading: 269.841513 deg,
      new cmd heading: 269.837340 deg.

2025-01-08T17:22:31.602Z,1736356951.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709550 target range: 425.399994 and range: 425.40 m.
2025-01-08T17:22:31.636Z,1736356951.636 [DAT](INFO): DAT read: 17:22:29.7345 LVL= 19472, 29297, 15970, 28355, AGC= 72, IDX= 181,-0.42, 2.390, 0.892, 2.372, 1.713, PHS= 0.766,-0.774, 0.656, RAW= 146.3,  -8.7, CAL= 152.7, -17.4, ROT= 357.3,  17.4

2025-01-08T17:22:31.637Z,1736356951.637 [DAT](INFO): got valid direction response:
 17:22:29.7345 LVL= 19472, 29297, 15970, 28355, AGC= 72, IDX= 181,-0.42, 2.390, 0.892, 2.372, 1.713, PHS= 0.766,-0.774, 0.656, RAW= 146.3,  -8.7, CAL= 152.7, -17.4, ROT= 357.3,  17.4

2025-01-08T17:22:31.638Z,1736356951.638 [DAT](INFO): DAT read: Bearing 357.3,  17.4 (Local)

2025-01-08T17:22:31.639Z,1736356951.639 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.3,  17.4 (Local)

2025-01-08T17:22:31.641Z,1736356951.641 [DAT](INFO): DAT read: Range 10 to 50 : 410.7 m  (Round-trip  547.7 ms) speed  0.8 m/s

2025-01-08T17:22:31.641Z,1736356951.641 [DAT](INFO): DAT read: user:92>

2025-01-08T17:22:31.642Z,1736356951.642 [DAT](INFO): DAT read: Tx time:17:22:30.8327

2025-01-08T17:22:31.642Z,1736356951.642 [DAT](INFO): Ping request sent.
2025-01-08T17:22:31.642Z,1736356951.642 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:22:31.643Z,1736356951.643 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:22:31.644Z,1736356951.644 [DAT](INFO): direction in FSK: [0.953181,-0.044951,-0.299041]
2025-01-08T17:22:31.644Z,1736356951.644 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:31.645Z,1736356951.645 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:31.649Z,1736356951.649 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:31.649Z,1736356951.649 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:31.881Z,1736356951.881 [DAT](INFO): DAT read: TxSync time:17:22:30.8319

2025-01-08T17:22:31.961Z,1736356951.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:31.982Z,1736356951.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 410.700012 m,
      deltaT: 8.072082 s,
      deltaX: -14.699982 m,
      approachRate: -1.821089 m/s,
      rangeRepo size: 4

2025-01-08T17:22:31.985Z,1736356951.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 410.700012 m,
      bearing: 269.593616 deg,
      lat: 36.904036 deg,
      lon: -122.119123 deg,
      deltaT: 8.072082 s,
      deltaX: -14.699982 m,
      approachRate: -1.821089 m/s,
      posRepo size: 4

2025-01-08T17:22:31.986Z,1736356951.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.70 m.
2025-01-08T17:22:31.989Z,1736356951.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.700012 m,
      nav range: 396.558075 m,
      bearing: 269.602893 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004080 deg/s,
      cmd heading: 269.837333 deg,
      new cmd heading: 269.832501 deg.

2025-01-08T17:22:31.990Z,1736356951.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709466 target range: 410.700012 and range: 410.70 m.
2025-01-08T17:22:32.401Z,1736356952.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:32.429Z,1736356952.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.70 m.
2025-01-08T17:22:32.433Z,1736356952.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.700012 m,
      nav range: 396.230652 m,
      bearing: 269.601194 deg,
      approach rate: -0.729943 m/s,
      LOS rate: -0.003792 deg/s,
      cmd heading: 269.832497 deg,
      new cmd heading: 269.827394 deg.

2025-01-08T17:22:32.434Z,1736356952.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709376 target range: 410.700012 and range: 410.70 m.
2025-01-08T17:22:32.762Z,1736356952.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:32.775Z,1736356952.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.70 m.
2025-01-08T17:22:32.778Z,1736356952.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.700012 m,
      nav range: 395.962433 m,
      bearing: 269.599906 deg,
      approach rate: -0.776409 m/s,
      LOS rate: -0.003729 deg/s,
      cmd heading: 269.827388 deg,
      new cmd heading: 269.823523 deg.

2025-01-08T17:22:32.779Z,1736356952.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709309 target range: 410.700012 and range: 410.70 m.
2025-01-08T17:22:33.226Z,1736356953.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:33.258Z,1736356953.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:33.260Z,1736356953.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.70 m.
2025-01-08T17:22:33.263Z,1736356953.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.700012 m,
      nav range: 395.616028 m,
      bearing: 269.598208 deg,
      approach rate: -0.713832 m/s,
      LOS rate: -0.003502 deg/s,
      cmd heading: 269.823536 deg,
      new cmd heading: 269.818438 deg.

2025-01-08T17:22:33.264Z,1736356953.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709220 target range: 410.700012 and range: 410.70 m.
2025-01-08T17:22:33.392Z,1736356953.392 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:22:33.392Z,1736356953.392 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:22:33.392Z,1736356953.392 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:22:33.574Z,1736356953.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:33.583Z,1736356953.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.70 m.
2025-01-08T17:22:33.586Z,1736356953.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.700012 m,
      nav range: 395.356903 m,
      bearing: 269.596929 deg,
      approach rate: -0.801594 m/s,
      LOS rate: -0.003961 deg/s,
      cmd heading: 269.818427 deg,
      new cmd heading: 269.814586 deg.

2025-01-08T17:22:33.587Z,1736356953.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709153 target range: 410.700012 and range: 410.70 m.
2025-01-08T17:22:33.646Z,1736356953.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002800
2025-01-08T17:22:33.896Z,1736356953.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253673
2025-01-08T17:22:33.991Z,1736356953.991 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:34.016Z,1736356954.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.70 m.
2025-01-08T17:22:34.019Z,1736356954.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.700012 m,
      nav range: 395.046173 m,
      bearing: 269.595392 deg,
      approach rate: -0.717517 m/s,
      LOS rate: -0.003551 deg/s,
      cmd heading: 269.814575 deg,
      new cmd heading: 269.809962 deg.

2025-01-08T17:22:34.020Z,1736356954.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709072 target range: 410.700012 and range: 410.70 m.
2025-01-08T17:22:34.152Z,1736356954.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509314
2025-01-08T17:22:34.402Z,1736356954.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759123
2025-01-08T17:22:34.407Z,1736356954.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:34.432Z,1736356954.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.70 m.
2025-01-08T17:22:34.441Z,1736356954.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.700012 m,
      nav range: 394.746643 m,
      bearing: 269.594180 deg,
      approach rate: -0.720714 m/s,
      LOS rate: -0.002918 deg/s,
      cmd heading: 269.809957 deg,
      new cmd heading: 269.806319 deg.

2025-01-08T17:22:34.442Z,1736356954.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709009 target range: 410.700012 and range: 410.70 m.
2025-01-08T17:22:34.652Z,1736356954.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009771
2025-01-08T17:22:34.792Z,1736356954.792 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:34.802Z,1736356954.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.70 m.
2025-01-08T17:22:34.805Z,1736356954.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.700012 m,
      nav range: 394.469360 m,
      bearing: 269.593057 deg,
      approach rate: -0.748921 m/s,
      LOS rate: -0.003037 deg/s,
      cmd heading: 269.806324 deg,
      new cmd heading: 269.802950 deg.

2025-01-08T17:22:34.806Z,1736356954.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708950 target range: 410.700012 and range: 410.70 m.
2025-01-08T17:22:34.905Z,1736356954.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262065
2025-01-08T17:22:35.164Z,1736356955.164 [DAT](INFO): DAT read: Rx Time:17:22:33.7937

2025-01-08T17:22:35.166Z,1736356955.166 [DAT](INFO): Rx dataTimestamp_ set to:1736356955.165022
2025-01-08T17:22:35.168Z,1736356955.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525168
2025-01-08T17:22:35.234Z,1736356955.234 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,250108035.0, +11.2,   0.0,1494.4,  0
2025-01-08T17:22:35.256Z,1736356955.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-08T17:22:35.256Z,1736356955.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:35.272Z,1736356955.272 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:35.274Z,1736356955.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.70 m.
2025-01-08T17:22:35.282Z,1736356955.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.700012 m,
      nav range: 394.135590 m,
      bearing: 269.591562 deg,
      approach rate: -0.706776 m/s,
      LOS rate: -0.003167 deg/s,
      cmd heading: 269.802963 deg,
      new cmd heading: 269.798477 deg.

2025-01-08T17:22:35.292Z,1736356955.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708872 target range: 410.700012 and range: 410.70 m.
2025-01-08T17:22:35.414Z,1736356955.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771752
2025-01-08T17:22:35.593Z,1736356955.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:22:35.593Z,1736356955.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:35.602Z,1736356955.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 410.70 m.
2025-01-08T17:22:35.622Z,1736356955.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 410.700012 m,
      nav range: 393.893494 m,
      bearing: 269.590426 deg,
      approach rate: -0.738949 m/s,
      LOS rate: -0.003471 deg/s,
      cmd heading: 269.798483 deg,
      new cmd heading: 269.795072 deg.

2025-01-08T17:22:35.624Z,1736356955.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708812 target range: 410.700012 and range: 410.70 m.
2025-01-08T17:22:35.674Z,1736356955.674 [DAT](INFO): DAT read: 17:22:33.7937 LVL= 23904, 32545, 23618, 28915, AGC= 68, IDX=  18,-0.12,-2.200, 2.644,-2.236,-2.945, PHS= 0.833,-0.647, 0.706, RAW= 145.6, -12.5, CAL= 152.5, -21.0, ROT= 357.5,  21.0

2025-01-08T17:22:35.675Z,1736356955.675 [DAT](INFO): got valid direction response:
 17:22:33.7937 LVL= 23904, 32545, 23618, 28915, AGC= 68, IDX=  18,-0.12,-2.200, 2.644,-2.236,-2.945, PHS= 0.833,-0.647, 0.706, RAW= 145.6, -12.5, CAL= 152.5, -21.0, ROT= 357.5,  21.0

2025-01-08T17:22:35.676Z,1736356955.676 [DAT](INFO): DAT read: Bearing 357.5,  21.0 (Local)

2025-01-08T17:22:35.677Z,1736356955.677 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.5,  21.0 (Local)

2025-01-08T17:22:35.678Z,1736356955.678 [DAT](INFO): DAT read: Range 10 to 50 : 417.6 m  (Round-trip  556.9 ms) speed  0.9 m/s

2025-01-08T17:22:35.679Z,1736356955.679 [DAT](INFO): DAT read: user:93>

2025-01-08T17:22:35.680Z,1736356955.680 [DAT](INFO): DAT read: Tx time:17:22:34.8827

2025-01-08T17:22:35.680Z,1736356955.680 [DAT](INFO): Ping request sent.
2025-01-08T17:22:35.681Z,1736356955.681 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:22:35.681Z,1736356955.681 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:22:35.682Z,1736356955.682 [DAT](INFO): direction in FSK: [0.932692,-0.040722,-0.358368]
2025-01-08T17:22:35.683Z,1736356955.683 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:35.683Z,1736356955.683 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:35.686Z,1736356955.686 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:35.686Z,1736356955.686 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:35.925Z,1736356955.925 [DAT](INFO): DAT read: TxSync time:17:22:34.8819

2025-01-08T17:22:36.000Z,1736356956.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-08T17:22:36.000Z,1736356956.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:36.015Z,1736356956.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 417.600006 m,
      deltaT: 4.039609 s,
      deltaX: 6.899994 m,
      approachRate: 1.708085 m/s,
      rangeRepo size: 4

2025-01-08T17:22:36.017Z,1736356956.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 417.600006 m,
      bearing: 270.681536 deg,
      lat: 36.904036 deg,
      lon: -122.119036 deg,
      deltaT: 4.039609 s,
      deltaX: 6.899994 m,
      approachRate: 1.708085 m/s,
      posRepo size: 4

2025-01-08T17:22:36.018Z,1736356956.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:36.021Z,1736356956.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 385.854248 m,
      bearing: 269.580721 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003471 deg/s,
      cmd heading: 269.795068 deg,
      new cmd heading: 269.790783 deg.

2025-01-08T17:22:36.022Z,1736356956.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708737 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:36.431Z,1736356956.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:36.476Z,1736356956.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:36.483Z,1736356956.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 385.560089 m,
      bearing: 269.579027 deg,
      approach rate: -0.635578 m/s,
      LOS rate: -0.003662 deg/s,
      cmd heading: 269.790778 deg,
      new cmd heading: 269.785694 deg.

2025-01-08T17:22:36.484Z,1736356956.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708649 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:36.824Z,1736356956.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:36.833Z,1736356956.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:36.836Z,1736356956.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 385.292480 m,
      bearing: 269.577484 deg,
      approach rate: -0.751054 m/s,
      LOS rate: -0.004334 deg/s,
      cmd heading: 269.785697 deg,
      new cmd heading: 269.781064 deg.

2025-01-08T17:22:36.837Z,1736356956.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708568 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:37.270Z,1736356957.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:37.277Z,1736356957.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:37.279Z,1736356957.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:37.282Z,1736356957.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 384.997620 m,
      bearing: 269.575663 deg,
      approach rate: -0.661013 m/s,
      LOS rate: -0.004085 deg/s,
      cmd heading: 269.781052 deg,
      new cmd heading: 269.775585 deg.

2025-01-08T17:22:37.284Z,1736356957.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708472 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:37.432Z,1736356957.432 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:22:37.432Z,1736356957.432 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:22:37.432Z,1736356957.432 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:22:37.617Z,1736356957.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:37.626Z,1736356957.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:37.629Z,1736356957.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 384.767914 m,
      bearing: 269.574140 deg,
      approach rate: -0.661426 m/s,
      LOS rate: -0.004389 deg/s,
      cmd heading: 269.775588 deg,
      new cmd heading: 269.771015 deg.

2025-01-08T17:22:37.630Z,1736356957.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708393 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:37.686Z,1736356957.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005094
2025-01-08T17:22:37.936Z,1736356957.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255965
2025-01-08T17:22:38.017Z,1736356958.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:38.026Z,1736356958.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:38.029Z,1736356958.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 384.503754 m,
      bearing: 269.572308 deg,
      approach rate: -0.661058 m/s,
      LOS rate: -0.004587 deg/s,
      cmd heading: 269.771025 deg,
      new cmd heading: 269.765527 deg.

2025-01-08T17:22:38.030Z,1736356958.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708297 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:38.188Z,1736356958.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507891
2025-01-08T17:22:38.440Z,1736356958.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759937
2025-01-08T17:22:38.461Z,1736356958.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:38.474Z,1736356958.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:38.477Z,1736356958.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 384.217010 m,
      bearing: 269.570839 deg,
      approach rate: -0.639728 m/s,
      LOS rate: -0.003280 deg/s,
      cmd heading: 269.765534 deg,
      new cmd heading: 269.761123 deg.

2025-01-08T17:22:38.478Z,1736356958.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708220 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:38.693Z,1736356958.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012526
2025-01-08T17:22:38.832Z,1736356958.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:38.857Z,1736356958.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:38.866Z,1736356958.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 383.977203 m,
      bearing: 269.569567 deg,
      approach rate: -0.625165 m/s,
      LOS rate: -0.003319 deg/s,
      cmd heading: 269.761135 deg,
      new cmd heading: 269.757316 deg.

2025-01-08T17:22:38.867Z,1736356958.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708153 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:38.945Z,1736356958.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264317
2025-01-08T17:22:39.199Z,1736356959.199 [DAT](INFO): DAT read: Rx Time:17:22:37.8128

2025-01-08T17:22:39.201Z,1736356959.201 [DAT](INFO): Rx dataTimestamp_ set to:1736356959.200140
2025-01-08T17:22:39.203Z,1736356959.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522161
2025-01-08T17:22:39.318Z,1736356959.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:39.325Z,1736356959.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:39.328Z,1736356959.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:39.332Z,1736356959.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 383.669617 m,
      bearing: 269.567578 deg,
      approach rate: -0.654578 m/s,
      LOS rate: -0.004235 deg/s,
      cmd heading: 269.757310 deg,
      new cmd heading: 269.751341 deg.

2025-01-08T17:22:39.333Z,1736356959.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708049 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:39.450Z,1736356959.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769863
2025-01-08T17:22:39.633Z,1736356959.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:39.641Z,1736356959.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:39.644Z,1736356959.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 383.470673 m,
      bearing: 269.566253 deg,
      approach rate: -0.633881 m/s,
      LOS rate: -0.004226 deg/s,
      cmd heading: 269.751327 deg,
      new cmd heading: 269.747348 deg.

2025-01-08T17:22:39.645Z,1736356959.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707979 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:39.710Z,1736356959.710 [DAT](INFO): DAT read: 17:22:37.8128 LVL= 24112, 29041, 21426, 32755, AGC= 73, IDX= 257, 0.25,-2.003, 2.750,-1.979,-2.645, PHS= 0.730,-0.841, 0.663, RAW= 147.8,  -7.2, CAL= 153.6, -15.8, ROT= 356.4,  15.8

2025-01-08T17:22:39.712Z,1736356959.712 [DAT](INFO): got valid direction response:
 17:22:37.8128 LVL= 24112, 29041, 21426, 32755, AGC= 73, IDX= 257, 0.25,-2.003, 2.750,-1.979,-2.645, PHS= 0.730,-0.841, 0.663, RAW= 147.8,  -7.2, CAL= 153.6, -15.8, ROT= 356.4,  15.8

2025-01-08T17:22:39.714Z,1736356959.714 [DAT](INFO): DAT read: Bearing 356.4,  15.8 (Local)

2025-01-08T17:22:39.715Z,1736356959.715 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.4,  15.8 (Local)

2025-01-08T17:22:39.718Z,1736356959.718 [DAT](INFO): DAT read: Range 10 to 50 : 394.4 m  (Round-trip  525.9 ms) speed  0.4 m/s

2025-01-08T17:22:39.720Z,1736356959.720 [DAT](INFO): DAT read: user:94>

2025-01-08T17:22:39.721Z,1736356959.721 [DAT](INFO): DAT read: Tx time:17:22:38.9328

2025-01-08T17:22:39.721Z,1736356959.721 [DAT](INFO): Ping request sent.
2025-01-08T17:22:39.721Z,1736356959.721 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:22:39.722Z,1736356959.722 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:22:39.724Z,1736356959.724 [DAT](INFO): direction in FSK: [0.960319,-0.060418,-0.272280]
2025-01-08T17:22:39.724Z,1736356959.724 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:39.724Z,1736356959.724 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:39.736Z,1736356959.736 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:39.736Z,1736356959.736 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:39.953Z,1736356959.953 [DAT](INFO): DAT read: TxSync time:17:22:38.9320

2025-01-08T17:22:40.058Z,1736356960.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:40.073Z,1736356960.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 394.399994 m,
 deltaT: 4.032296 s,
 deltaX: -23.200012 m,
 approachRate: -5.753549 m/s,
 rangeRepo size: 4
2025-01-08T17:22:40.074Z,1736356960.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:40.077Z,1736356960.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 383.201599 m,
      bearing: 269.564432 deg,
      approach rate: -0.623628 m/s,
      LOS rate: -0.004223 deg/s,
      cmd heading: 269.747338 deg,
      new cmd heading: 269.741872 deg.

2025-01-08T17:22:40.078Z,1736356960.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707884 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:40.484Z,1736356960.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:40.493Z,1736356960.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:40.496Z,1736356960.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 382.939056 m,
      bearing: 269.562621 deg,
      approach rate: -0.625044 m/s,
      LOS rate: -0.004313 deg/s,
      cmd heading: 269.741874 deg,
      new cmd heading: 269.736439 deg.

2025-01-08T17:22:40.497Z,1736356960.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707789 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:40.852Z,1736356960.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:40.866Z,1736356960.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:40.869Z,1736356960.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 382.712372 m,
      bearing: 269.561224 deg,
      approach rate: -0.607094 m/s,
      LOS rate: -0.003744 deg/s,
      cmd heading: 269.736437 deg,
      new cmd heading: 269.732243 deg.

2025-01-08T17:22:40.870Z,1736356960.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707716 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:41.325Z,1736356961.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:41.333Z,1736356961.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:41.335Z,1736356961.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:41.337Z,1736356961.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 382.425537 m,
      bearing: 269.558915 deg,
      approach rate: -0.612173 m/s,
      LOS rate: -0.004933 deg/s,
      cmd heading: 269.732230 deg,
      new cmd heading: 269.725297 deg.

2025-01-08T17:22:41.338Z,1736356961.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707594 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:41.466Z,1736356961.466 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:22:41.466Z,1736356961.466 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:22:41.467Z,1736356961.467 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:22:41.651Z,1736356961.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:41.664Z,1736356961.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:41.667Z,1736356961.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 382.225525 m,
      bearing: 269.557214 deg,
      approach rate: -0.615820 m/s,
      LOS rate: -0.005239 deg/s,
      cmd heading: 269.725290 deg,
      new cmd heading: 269.720186 deg.

2025-01-08T17:22:41.668Z,1736356961.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707505 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:41.717Z,1736356961.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995303
2025-01-08T17:22:41.968Z,1736356961.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246750
2025-01-08T17:22:42.065Z,1736356962.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:42.074Z,1736356962.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:42.077Z,1736356962.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 381.973175 m,
      bearing: 269.554959 deg,
      approach rate: -0.608886 m/s,
      LOS rate: -0.005445 deg/s,
      cmd heading: 269.720181 deg,
      new cmd heading: 269.713411 deg.

2025-01-08T17:22:42.078Z,1736356962.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707387 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:42.220Z,1736356962.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498734
2025-01-08T17:22:42.472Z,1736356962.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750694
2025-01-08T17:22:42.515Z,1736356962.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:42.524Z,1736356962.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:42.526Z,1736356962.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 381.685120 m,
      bearing: 269.551569 deg,
      approach rate: -0.641262 m/s,
      LOS rate: -0.007552 deg/s,
      cmd heading: 269.713406 deg,
      new cmd heading: 269.703229 deg.

2025-01-08T17:22:42.528Z,1736356962.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707210 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:42.725Z,1736356962.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003406
2025-01-08T17:22:42.863Z,1736356962.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:42.876Z,1736356962.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:42.879Z,1736356962.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 381.462250 m,
      bearing: 269.548855 deg,
      approach rate: -0.631336 m/s,
      LOS rate: -0.007693 deg/s,
      cmd heading: 269.703243 deg,
      new cmd heading: 269.695096 deg.

2025-01-08T17:22:42.880Z,1736356962.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707067 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:42.978Z,1736356962.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256697
2025-01-08T17:22:43.235Z,1736356963.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512684
2025-01-08T17:22:43.354Z,1736356963.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:43.361Z,1736356963.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:43.364Z,1736356963.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:43.367Z,1736356963.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 381.132965 m,
      bearing: 269.544064 deg,
      approach rate: -0.675775 m/s,
      LOS rate: -0.009842 deg/s,
      cmd heading: 269.695101 deg,
      new cmd heading: 269.680714 deg.

2025-01-08T17:22:43.369Z,1736356963.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706816 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:43.485Z,1736356963.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763174
2025-01-08T17:22:43.686Z,1736356963.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:43.700Z,1736356963.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:43.704Z,1736356963.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 380.910370 m,
      bearing: 269.540819 deg,
      approach rate: -0.663080 m/s,
      LOS rate: -0.009672 deg/s,
      cmd heading: 269.680703 deg,
      new cmd heading: 269.670962 deg.

2025-01-08T17:22:43.706Z,1736356963.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706646 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:43.736Z,1736356963.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.014824
2025-01-08T17:22:43.988Z,1736356963.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.266922
2025-01-08T17:22:44.079Z,1736356964.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:44.089Z,1736356964.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:44.092Z,1736356964.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 380.646942 m,
      bearing: 269.536967 deg,
      approach rate: -0.675187 m/s,
      LOS rate: -0.009880 deg/s,
      cmd heading: 269.670949 deg,
      new cmd heading: 269.659385 deg.

2025-01-08T17:22:44.093Z,1736356964.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706444 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:44.240Z,1736356964.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.518736
2025-01-08T17:22:44.493Z,1736356964.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.771218
2025-01-08T17:22:44.501Z,1736356964.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:44.532Z,1736356964.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:44.541Z,1736356964.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 380.348175 m,
      bearing: 269.532546 deg,
      approach rate: -0.682082 m/s,
      LOS rate: -0.010100 deg/s,
      cmd heading: 269.659393 deg,
      new cmd heading: 269.646120 deg.

2025-01-08T17:22:44.542Z,1736356964.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706213 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:44.745Z,1736356964.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.023226
2025-01-08T17:22:44.886Z,1736356964.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:44.896Z,1736356964.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:44.917Z,1736356964.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 380.075439 m,
      bearing: 269.528501 deg,
      approach rate: -0.739053 m/s,
      LOS rate: -0.010969 deg/s,
      cmd heading: 269.646115 deg,
      new cmd heading: 269.633971 deg.

2025-01-08T17:22:44.918Z,1736356964.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706001 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:44.997Z,1736356964.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.275402
2025-01-08T17:22:45.249Z,1736356965.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.527243
2025-01-08T17:22:45.357Z,1736356965.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:45.367Z,1736356965.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:45.369Z,1736356965.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:45.372Z,1736356965.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 379.742249 m,
      bearing: 269.523632 deg,
      approach rate: -0.704202 m/s,
      LOS rate: -0.010300 deg/s,
      cmd heading: 269.633985 deg,
      new cmd heading: 269.619365 deg.

2025-01-08T17:22:45.373Z,1736356965.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705746 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:45.501Z,1736356965.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.779424
2025-01-08T17:22:45.748Z,1736356965.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:45.752Z,1736356965.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.030727
2025-01-08T17:22:45.759Z,1736356965.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:45.762Z,1736356965.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 379.447296 m,
      bearing: 269.519346 deg,
      approach rate: -0.757308 m/s,
      LOS rate: -0.011012 deg/s,
      cmd heading: 269.619368 deg,
      new cmd heading: 269.606501 deg.

2025-01-08T17:22:45.763Z,1736356965.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705521 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:46.004Z,1736356966.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.282951
2025-01-08T17:22:46.111Z,1736356966.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:46.120Z,1736356966.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:46.123Z,1736356966.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 379.174103 m,
      bearing: 269.515420 deg,
      approach rate: -0.756521 m/s,
      LOS rate: -0.010881 deg/s,
      cmd heading: 269.606500 deg,
      new cmd heading: 269.594711 deg.

2025-01-08T17:22:46.124Z,1736356966.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705316 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:46.256Z,1736356966.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.534851
2025-01-08T17:22:46.508Z,1736356966.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.786884
2025-01-08T17:22:46.523Z,1736356966.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:46.531Z,1736356966.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:46.561Z,1736356966.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 378.858002 m,
      bearing: 269.511017 deg,
      approach rate: -0.769336 m/s,
      LOS rate: -0.010724 deg/s,
      cmd heading: 269.594725 deg,
      new cmd heading: 269.581506 deg.

2025-01-08T17:22:46.562Z,1736356966.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705085 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:46.764Z,1736356966.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.042277
2025-01-08T17:22:46.908Z,1736356966.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:46.934Z,1736356966.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:46.940Z,1736356966.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 378.562012 m,
      bearing: 269.506956 deg,
      approach rate: -0.735008 m/s,
      LOS rate: -0.010093 deg/s,
      cmd heading: 269.581501 deg,
      new cmd heading: 269.569308 deg.

2025-01-08T17:22:46.942Z,1736356966.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704872 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:47.012Z,1736356967.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.290874
2025-01-08T17:22:47.265Z,1736356967.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.543358
2025-01-08T17:22:47.374Z,1736356967.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:47.405Z,1736356967.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:47.407Z,1736356967.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:47.425Z,1736356967.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 378.205048 m,
      bearing: 269.502050 deg,
      approach rate: -0.754184 m/s,
      LOS rate: -0.010375 deg/s,
      cmd heading: 269.569316 deg,
      new cmd heading: 269.554584 deg.

2025-01-08T17:22:47.426Z,1736356967.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704615 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:47.516Z,1736356967.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.794831
2025-01-08T17:22:47.768Z,1736356967.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.046833
2025-01-08T17:22:47.782Z,1736356967.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:47.793Z,1736356967.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:47.796Z,1736356967.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 377.893097 m,
      bearing: 269.497743 deg,
      approach rate: -0.808380 m/s,
      LOS rate: -0.011168 deg/s,
      cmd heading: 269.554590 deg,
      new cmd heading: 269.541661 deg.

2025-01-08T17:22:47.798Z,1736356967.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704390 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:48.021Z,1736356968.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.299543
2025-01-08T17:22:48.121Z,1736356968.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:48.130Z,1736356968.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:48.134Z,1736356968.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 377.633606 m,
      bearing: 269.494408 deg,
      approach rate: -0.769729 m/s,
      LOS rate: -0.009900 deg/s,
      cmd heading: 269.541668 deg,
      new cmd heading: 269.531656 deg.

2025-01-08T17:22:48.135Z,1736356968.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704215 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:48.272Z,1736356968.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.550679
2025-01-08T17:22:48.608Z,1736356968.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.886525
2025-01-08T17:22:48.673Z,1736356968.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:48.682Z,1736356968.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:48.685Z,1736356968.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 377.219208 m,
      bearing: 269.490673 deg,
      approach rate: -0.750827 m/s,
      LOS rate: -0.006775 deg/s,
      cmd heading: 269.531668 deg,
      new cmd heading: 269.520451 deg.

2025-01-08T17:22:48.686Z,1736356968.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704019 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:48.794Z,1736356968.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072121
2025-01-08T17:22:48.990Z,1736356968.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:48.999Z,1736356968.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:49.016Z,1736356969.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 376.981781 m,
      bearing: 269.488664 deg,
      approach rate: -0.749106 m/s,
      LOS rate: -0.006344 deg/s,
      cmd heading: 269.520439 deg,
      new cmd heading: 269.514408 deg.

2025-01-08T17:22:49.017Z,1736356969.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703914 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:49.046Z,1736356969.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324256
2025-01-08T17:22:49.296Z,1736356969.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574717
2025-01-08T17:22:49.454Z,1736356969.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:49.461Z,1736356969.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:49.465Z,1736356969.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:49.468Z,1736356969.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 376.646881 m,
      bearing: 269.485944 deg,
      approach rate: -0.720671 m/s,
      LOS rate: -0.005858 deg/s,
      cmd heading: 269.514402 deg,
      new cmd heading: 269.506234 deg.

2025-01-08T17:22:49.469Z,1736356969.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703771 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:49.540Z,1736356969.540 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-08T17:22:49.549Z,1736356969.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827040
2025-01-08T17:22:49.800Z,1736356969.800 [DAT](INFO): Reached modem response timeout
2025-01-08T17:22:49.800Z,1736356969.800 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:22:49.800Z,1736356969.800 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:22:49.820Z,1736356969.820 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:49.837Z,1736356969.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:49.842Z,1736356969.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 376.386139 m,
      bearing: 269.483870 deg,
      approach rate: -0.698369 m/s,
      LOS rate: -0.005560 deg/s,
      cmd heading: 269.506233 deg,
      new cmd heading: 269.500005 deg.

2025-01-08T17:22:49.852Z,1736356969.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703662 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:50.052Z,1736356970.052 [DAT](INFO): Reached modem response timeout
2025-01-08T17:22:50.052Z,1736356970.052 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:22:50.052Z,1736356970.052 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:22:50.200Z,1736356970.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:50.208Z,1736356970.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:50.211Z,1736356970.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 376.108704 m,
      bearing: 269.481688 deg,
      approach rate: -0.746856 m/s,
      LOS rate: -0.005877 deg/s,
      cmd heading: 269.500004 deg,
      new cmd heading: 269.493455 deg.

2025-01-08T17:22:50.215Z,1736356970.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703548 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:50.304Z,1736356970.304 [DAT](INFO): Reached modem response timeout
2025-01-08T17:22:50.304Z,1736356970.304 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:22:50.305Z,1736356970.305 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:22:50.556Z,1736356970.556 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:22:50.557Z,1736356970.557 [DAT](INFO): response not received
2025-01-08T17:22:50.557Z,1736356970.557 [DAT](INFO): DAT read: user:95>

2025-01-08T17:22:50.558Z,1736356970.558 [DAT](INFO): DAT read: Tx time:17:22:49.8829

2025-01-08T17:22:50.558Z,1736356970.558 [DAT](INFO): Ping request sent.
2025-01-08T17:22:50.558Z,1736356970.558 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:22:50.558Z,1736356970.558 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:50.559Z,1736356970.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000715
2025-01-08T17:22:50.761Z,1736356970.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:50.790Z,1736356970.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:50.798Z,1736356970.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 375.734100 m,
      bearing: 269.479433 deg,
      approach rate: -0.643909 m/s,
      LOS rate: -0.003880 deg/s,
      cmd heading: 269.493447 deg,
      new cmd heading: 269.486675 deg.

2025-01-08T17:22:50.799Z,1736356970.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703430 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:50.809Z,1736356970.809 [DAT](INFO): DAT read: TxSync time:17:22:49.8821

2025-01-08T17:22:50.809Z,1736356970.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251323
2025-01-08T17:22:51.060Z,1736356971.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502107
2025-01-08T17:22:51.257Z,1736356971.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:51.277Z,1736356971.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:51.284Z,1736356971.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 375.403564 m,
      bearing: 269.477477 deg,
      approach rate: -0.678191 m/s,
      LOS rate: -0.004018 deg/s,
      cmd heading: 269.486671 deg,
      new cmd heading: 269.480797 deg.

2025-01-08T17:22:51.285Z,1736356971.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703327 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:51.312Z,1736356971.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754293
2025-01-08T17:22:51.565Z,1736356971.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006891
2025-01-08T17:22:51.754Z,1736356971.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:51.779Z,1736356971.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:51.782Z,1736356971.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:51.785Z,1736356971.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 375.079803 m,
      bearing: 269.476638 deg,
      approach rate: -0.641641 m/s,
      LOS rate: -0.001663 deg/s,
      cmd heading: 269.480797 deg,
      new cmd heading: 269.478279 deg.

2025-01-08T17:22:51.786Z,1736356971.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703283 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:51.816Z,1736356971.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258320
2025-01-08T17:22:52.068Z,1736356972.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510150
2025-01-08T17:22:52.119Z,1736356972.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:52.127Z,1736356972.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:52.130Z,1736356972.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 374.842712 m,
      bearing: 269.476034 deg,
      approach rate: -0.687322 m/s,
      LOS rate: -0.001753 deg/s,
      cmd heading: 269.478284 deg,
      new cmd heading: 269.476470 deg.

2025-01-08T17:22:52.140Z,1736356972.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703252 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:52.320Z,1736356972.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762098
2025-01-08T17:22:52.537Z,1736356972.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:52.546Z,1736356972.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:52.551Z,1736356972.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 374.587830 m,
      bearing: 269.474324 deg,
      approach rate: -0.609096 m/s,
      LOS rate: -0.004090 deg/s,
      cmd heading: 269.476480 deg,
      new cmd heading: 269.471346 deg.

2025-01-08T17:22:52.552Z,1736356972.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703162 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:52.585Z,1736356972.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026873
2025-01-08T17:22:52.836Z,1736356972.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278070
2025-01-08T17:22:52.916Z,1736356972.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:52.924Z,1736356972.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:52.927Z,1736356972.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 374.356812 m,
      bearing: 269.472580 deg,
      approach rate: -0.609746 m/s,
      LOS rate: -0.004607 deg/s,
      cmd heading: 269.471344 deg,
      new cmd heading: 269.466108 deg.

2025-01-08T17:22:52.928Z,1736356972.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703071 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:53.088Z,1736356973.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530040
2025-01-08T17:22:53.318Z,1736356973.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:53.327Z,1736356973.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:53.330Z,1736356973.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 374.111572 m,
      bearing: 269.470637 deg,
      approach rate: -0.609096 m/s,
      LOS rate: -0.004828 deg/s,
      cmd heading: 269.466098 deg,
      new cmd heading: 269.460266 deg.

2025-01-08T17:22:53.332Z,1736356973.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702969 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:53.340Z,1736356973.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782219
2025-01-08T17:22:53.472Z,1736356973.472 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:22:53.593Z,1736356973.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034391
2025-01-08T17:22:53.764Z,1736356973.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:53.772Z,1736356973.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:53.780Z,1736356973.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 373.853241 m,
      bearing: 269.468644 deg,
      approach rate: -0.580452 m/s,
      LOS rate: -0.004482 deg/s,
      cmd heading: 269.460279 deg,
      new cmd heading: 269.454295 deg.

2025-01-08T17:22:53.782Z,1736356973.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702865 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:53.846Z,1736356973.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287792
2025-01-08T17:22:54.098Z,1736356974.098 [DAT](INFO): DAT read: Rx Time:17:22:52.8285

2025-01-08T17:22:54.099Z,1736356974.099 [DAT](INFO): Rx dataTimestamp_ set to:1736356974.098234
2025-01-08T17:22:54.100Z,1736356974.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542167
2025-01-08T17:22:54.153Z,1736356974.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:54.159Z,1736356974.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:54.161Z,1736356974.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 417.60 m.
2025-01-08T17:22:54.165Z,1736356974.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 417.600006 m,
      nav range: 373.626984 m,
      bearing: 269.466833 deg,
      approach rate: -0.581087 m/s,
      LOS rate: -0.004653 deg/s,
      cmd heading: 269.454296 deg,
      new cmd heading: 269.448861 deg.

2025-01-08T17:22:54.166Z,1736356974.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702770 target range: 417.600006 and range: 417.60 m.
2025-01-08T17:22:54.348Z,1736356974.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790344
2025-01-08T17:22:54.477Z,1736356974.477 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:22:54.606Z,1736356974.606 [DAT](INFO): DAT read: 17:22:52.8285 LVL= 12912, 16305, 13714, 18547, AGC= 72, IDX=  38, 0.47,-0.537,-2.033,-0.626,-1.251, PHS= 0.802,-0.735, 0.622, RAW= 143.9,  -9.5, CAL= 150.6, -18.6, ROT= 359.4,  18.6

2025-01-08T17:22:54.607Z,1736356974.607 [DAT](INFO): got valid direction response:
 17:22:52.8285 LVL= 12912, 16305, 13714, 18547, AGC= 72, IDX=  38, 0.47,-0.537,-2.033,-0.626,-1.251, PHS= 0.802,-0.735, 0.622, RAW= 143.9,  -9.5, CAL= 150.6, -18.6, ROT= 359.4,  18.6

2025-01-08T17:22:54.608Z,1736356974.608 [DAT](INFO): DAT read: Bearing 359.4,  18.6 (Local)

2025-01-08T17:22:54.609Z,1736356974.609 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.4,  18.6 (Local)

2025-01-08T17:22:54.610Z,1736356974.610 [DAT](INFO): DAT read: Range 10 to 50 : 406.0 m  (Round-trip  541.4 ms) speed  0.4 m/s

2025-01-08T17:22:54.611Z,1736356974.611 [DAT](INFO): DAT read: user:96>

2025-01-08T17:22:54.612Z,1736356974.612 [DAT](INFO): DAT read: Tx time:17:22:53.9330

2025-01-08T17:22:54.613Z,1736356974.613 [DAT](INFO): Ping request sent.
2025-01-08T17:22:54.613Z,1736356974.613 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:22:54.613Z,1736356974.613 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:22:54.615Z,1736356974.615 [DAT](INFO): direction in FSK: [0.947716,-0.009925,-0.318959]
2025-01-08T17:22:54.615Z,1736356974.615 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:54.616Z,1736356974.616 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:54.619Z,1736356974.619 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:54.619Z,1736356974.619 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:54.635Z,1736356974.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:54.742Z,1736356974.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 406.000000 m,
      deltaT: 18.932059 s,
      deltaX: -11.600006 m,
      approachRate: -0.612718 m/s,
      rangeRepo size: 4

2025-01-08T17:22:54.749Z,1736356974.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 406.000000 m,
      bearing: 272.194553 deg,
      lat: 36.904036 deg,
      lon: -122.119025 deg,
      deltaT: 18.932059 s,
      deltaX: -11.600006 m,
      approachRate: -0.612718 m/s,
      posRepo size: 4

2025-01-08T17:22:54.749Z,1736356974.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.00 m.
2025-01-08T17:22:54.761Z,1736356974.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.000000 m,
      nav range: 372.361572 m,
      bearing: 269.462750 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004653 deg/s,
      cmd heading: 269.448859 deg,
      new cmd heading: 269.440762 deg.

2025-01-08T17:22:54.763Z,1736356974.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702629 target range: 406.000000 and range: 406.00 m.
2025-01-08T17:22:54.853Z,1736356974.853 [DAT](INFO): DAT read: TxSync time:17:22:53.9322

2025-01-08T17:22:55.056Z,1736356975.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:55.072Z,1736356975.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.00 m.
2025-01-08T17:22:55.075Z,1736356975.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.000000 m,
      nav range: 372.117218 m,
      bearing: 269.460299 deg,
      approach rate: -0.738795 m/s,
      LOS rate: -0.007416 deg/s,
      cmd heading: 269.440772 deg,
      new cmd heading: 269.433413 deg.

2025-01-08T17:22:55.076Z,1736356975.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702500 target range: 406.000000 and range: 406.00 m.
2025-01-08T17:22:55.556Z,1736356975.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:55.573Z,1736356975.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.00 m.
2025-01-08T17:22:55.581Z,1736356975.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.000000 m,
      nav range: 371.814301 m,
      bearing: 269.456992 deg,
      approach rate: -0.604690 m/s,
      LOS rate: -0.006607 deg/s,
      cmd heading: 269.433423 deg,
      new cmd heading: 269.423494 deg.

2025-01-08T17:22:55.582Z,1736356975.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702327 target range: 406.000000 and range: 406.00 m.
2025-01-08T17:22:55.918Z,1736356975.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:55.926Z,1736356975.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.00 m.
2025-01-08T17:22:55.929Z,1736356975.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.000000 m,
      nav range: 371.595367 m,
      bearing: 269.454572 deg,
      approach rate: -0.620142 m/s,
      LOS rate: -0.006859 deg/s,
      cmd heading: 269.423505 deg,
      new cmd heading: 269.416241 deg.

2025-01-08T17:22:55.931Z,1736356975.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702200 target range: 406.000000 and range: 406.00 m.
2025-01-08T17:22:56.312Z,1736356976.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:56.336Z,1736356976.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:56.338Z,1736356976.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.00 m.
2025-01-08T17:22:56.365Z,1736356976.365 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:22:56.365Z,1736356976.365 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:22:56.365Z,1736356976.365 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:22:56.370Z,1736356976.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.000000 m,
      nav range: 371.357300 m,
      bearing: 269.451888 deg,
      approach rate: -0.577641 m/s,
      LOS rate: -0.006515 deg/s,
      cmd heading: 269.416238 deg,
      new cmd heading: 269.408182 deg.

2025-01-08T17:22:56.384Z,1736356976.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702060 target range: 406.000000 and range: 406.00 m.
2025-01-08T17:22:56.625Z,1736356976.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011845
2025-01-08T17:22:56.779Z,1736356976.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:56.787Z,1736356976.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.00 m.
2025-01-08T17:22:56.792Z,1736356976.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.000000 m,
      nav range: 371.060944 m,
      bearing: 269.447736 deg,
      approach rate: -0.660138 m/s,
      LOS rate: -0.009258 deg/s,
      cmd heading: 269.408178 deg,
      new cmd heading: 269.395710 deg.

2025-01-08T17:22:56.795Z,1736356976.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701842 target range: 406.000000 and range: 406.00 m.
2025-01-08T17:22:56.878Z,1736356976.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264954
2025-01-08T17:22:57.124Z,1736356977.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:57.128Z,1736356977.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515674
2025-01-08T17:22:57.134Z,1736356977.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.00 m.
2025-01-08T17:22:57.137Z,1736356977.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.000000 m,
      nav range: 370.842773 m,
      bearing: 269.444534 deg,
      approach rate: -0.628350 m/s,
      LOS rate: -0.009226 deg/s,
      cmd heading: 269.395720 deg,
      new cmd heading: 269.386110 deg.

2025-01-08T17:22:57.138Z,1736356977.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701674 target range: 406.000000 and range: 406.00 m.
2025-01-08T17:22:57.382Z,1736356977.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769099
2025-01-08T17:22:57.582Z,1736356977.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:57.610Z,1736356977.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.00 m.
2025-01-08T17:22:57.618Z,1736356977.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.000000 m,
      nav range: 370.538239 m,
      bearing: 269.439985 deg,
      approach rate: -0.640315 m/s,
      LOS rate: -0.009573 deg/s,
      cmd heading: 269.386103 deg,
      new cmd heading: 269.372444 deg.

2025-01-08T17:22:57.619Z,1736356977.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701436 target range: 406.000000 and range: 406.00 m.
2025-01-08T17:22:57.636Z,1736356977.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022963
2025-01-08T17:22:57.884Z,1736356977.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271573
2025-01-08T17:22:57.931Z,1736356977.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:57.940Z,1736356977.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.00 m.
2025-01-08T17:22:57.942Z,1736356977.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.000000 m,
      nav range: 370.306152 m,
      bearing: 269.436488 deg,
      approach rate: -0.704605 m/s,
      LOS rate: -0.010624 deg/s,
      cmd heading: 269.372443 deg,
      new cmd heading: 269.361945 deg.

2025-01-08T17:22:57.944Z,1736356977.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701253 target range: 406.000000 and range: 406.00 m.
2025-01-08T17:22:58.136Z,1736356978.136 [DAT](INFO): DAT read: Rx Time:17:22:56.8752

2025-01-08T17:22:58.137Z,1736356978.137 [DAT](INFO): Rx dataTimestamp_ set to:1736356978.136441
2025-01-08T17:22:58.137Z,1736356978.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524551
2025-01-08T17:22:58.337Z,1736356978.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:58.344Z,1736356978.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:22:58.345Z,1736356978.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 406.00 m.
2025-01-08T17:22:58.349Z,1736356978.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 406.000000 m,
      nav range: 370.036560 m,
      bearing: 269.432442 deg,
      approach rate: -0.663850 m/s,
      LOS rate: -0.009969 deg/s,
      cmd heading: 269.361952 deg,
      new cmd heading: 269.349806 deg.

2025-01-08T17:22:58.350Z,1736356978.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701041 target range: 406.000000 and range: 406.00 m.
2025-01-08T17:22:58.389Z,1736356978.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776023
2025-01-08T17:22:58.646Z,1736356978.646 [DAT](INFO): DAT read: 17:22:56.8752 LVL= 29040, 32753, 24642, 32755, AGC= 68, IDX= 403,-0.08, 2.968, 1.490, 2.843, 2.274, PHS= 0.782,-0.738, 0.565, RAW= 142.4,  -8.6, CAL= 149.0, -17.9, ROT=   1.0,  17.9

2025-01-08T17:22:58.656Z,1736356978.656 [DAT](INFO): got valid direction response:
 17:22:56.8752 LVL= 29040, 32753, 24642, 32755, AGC= 68, IDX= 403,-0.08, 2.968, 1.490, 2.843, 2.274, PHS= 0.782,-0.738, 0.565, RAW= 142.4,  -8.6, CAL= 149.0, -17.9, ROT=   1.0,  17.9

2025-01-08T17:22:58.657Z,1736356978.657 [DAT](INFO): DAT read: Bearing   1.0,  17.9 (Local)

2025-01-08T17:22:58.657Z,1736356978.657 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.0,  17.9 (Local)

2025-01-08T17:22:58.659Z,1736356978.659 [DAT](INFO): DAT read: Range 10 to 50 : 403.5 m  (Round-trip  538.1 ms) speed  0.6 m/s

2025-01-08T17:22:58.660Z,1736356978.660 [DAT](INFO): DAT read: user:97>

2025-01-08T17:22:58.660Z,1736356978.660 [DAT](INFO): DAT read: Tx time:17:22:57.9830

2025-01-08T17:22:58.661Z,1736356978.661 [DAT](INFO): Ping request sent.
2025-01-08T17:22:58.661Z,1736356978.661 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:22:58.661Z,1736356978.661 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:22:58.662Z,1736356978.662 [DAT](INFO): direction in FSK: [0.951449,0.016608,-0.307357]
2025-01-08T17:22:58.662Z,1736356978.662 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:58.662Z,1736356978.662 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:58.667Z,1736356978.667 [DAT](INFO): publishing transmit ping time
2025-01-08T17:22:58.667Z,1736356978.667 [DAT](INFO): publishing direction and range info
2025-01-08T17:22:58.851Z,1736356978.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:58.892Z,1736356978.892 [DAT](INFO): DAT read: TxSync time:17:22:57.9822

2025-01-08T17:22:58.894Z,1736356978.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 403.500000 m,
      deltaT: 4.040106 s,
      deltaX: -2.500000 m,
      approachRate: -0.618796 m/s,
      rangeRepo size: 4

2025-01-08T17:22:58.904Z,1736356978.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 403.500000 m,
      bearing: 274.151881 deg,
      lat: 36.904103 deg,
      lon: -122.119036 deg,
      deltaT: 4.040106 s,
      deltaX: -2.500000 m,
      approachRate: -0.618796 m/s,
      posRepo size: 4

2025-01-08T17:22:58.905Z,1736356978.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:22:58.912Z,1736356978.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 370.660248 m,
      bearing: 270.573967 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009969 deg/s,
      cmd heading: 269.349794 deg,
      new cmd heading: 269.333596 deg.

2025-01-08T17:22:58.913Z,1736356978.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700758 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:22:59.201Z,1736356979.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:59.222Z,1736356979.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:22:59.230Z,1736356979.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 370.414185 m,
      bearing: 270.571020 deg,
      approach rate: -0.734456 m/s,
      LOS rate: -0.008802 deg/s,
      cmd heading: 269.333593 deg,
      new cmd heading: 269.324746 deg.

2025-01-08T17:22:59.236Z,1736356979.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700603 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:22:59.612Z,1736356979.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:22:59.641Z,1736356979.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:22:59.649Z,1736356979.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 370.110748 m,
      bearing: 270.567324 deg,
      approach rate: -0.724430 m/s,
      LOS rate: -0.008830 deg/s,
      cmd heading: 269.324741 deg,
      new cmd heading: 269.313645 deg.

2025-01-08T17:22:59.650Z,1736356979.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700410 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:00.009Z,1736356980.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:00.026Z,1736356980.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:00.065Z,1736356980.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 369.816437 m,
      bearing: 270.563897 deg,
      approach rate: -0.765270 m/s,
      LOS rate: -0.008918 deg/s,
      cmd heading: 269.313649 deg,
      new cmd heading: 269.303359 deg.

2025-01-08T17:23:00.066Z,1736356980.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700230 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:00.486Z,1736356980.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:00.493Z,1736356980.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:00.495Z,1736356980.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:00.514Z,1736356980.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 369.463654 m,
      bearing: 270.559917 deg,
      approach rate: -0.752129 m/s,
      LOS rate: -0.008494 deg/s,
      cmd heading: 269.303349 deg,
      new cmd heading: 269.291396 deg.

2025-01-08T17:23:00.521Z,1736356980.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700022 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:00.657Z,1736356980.657 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:23:00.657Z,1736356980.657 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:23:00.658Z,1736356980.658 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:23:00.908Z,1736356980.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247603
2025-01-08T17:23:00.933Z,1736356980.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:00.968Z,1736356980.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:00.970Z,1736356980.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 369.117920 m,
      bearing: 270.555710 deg,
      approach rate: -0.733497 m/s,
      LOS rate: -0.008932 deg/s,
      cmd heading: 269.291410 deg,
      new cmd heading: 269.278779 deg.

2025-01-08T17:23:00.972Z,1736356980.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699801 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:01.161Z,1736356981.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500164
2025-01-08T17:23:01.412Z,1736356981.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751497
2025-01-08T17:23:01.427Z,1736356981.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:01.436Z,1736356981.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:01.439Z,1736356981.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 368.736206 m,
      bearing: 270.551097 deg,
      approach rate: -0.811632 m/s,
      LOS rate: -0.009820 deg/s,
      cmd heading: 269.278787 deg,
      new cmd heading: 269.264932 deg.

2025-01-08T17:23:01.440Z,1736356981.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699560 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:01.665Z,1736356981.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004329
2025-01-08T17:23:01.871Z,1736356981.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:01.885Z,1736356981.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:01.888Z,1736356981.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 368.388550 m,
      bearing: 270.547640 deg,
      approach rate: -0.775254 m/s,
      LOS rate: -0.007716 deg/s,
      cmd heading: 269.264936 deg,
      new cmd heading: 269.254555 deg.

2025-01-08T17:23:01.889Z,1736356981.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699378 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:01.918Z,1736356981.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256914
2025-01-08T17:23:02.168Z,1736356982.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507499
2025-01-08T17:23:02.252Z,1736356982.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:02.276Z,1736356982.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:02.279Z,1736356982.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 368.089935 m,
      bearing: 270.544665 deg,
      approach rate: -0.762928 m/s,
      LOS rate: -0.007606 deg/s,
      cmd heading: 269.254554 deg,
      new cmd heading: 269.245623 deg.

2025-01-08T17:23:02.281Z,1736356982.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699223 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:02.420Z,1736356982.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759672
2025-01-08T17:23:02.666Z,1736356982.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:02.672Z,1736356982.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.011531
2025-01-08T17:23:02.674Z,1736356982.674 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:02.676Z,1736356982.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:02.679Z,1736356982.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 367.768738 m,
      bearing: 270.541755 deg,
      approach rate: -0.802689 m/s,
      LOS rate: -0.007279 deg/s,
      cmd heading: 269.245620 deg,
      new cmd heading: 269.236882 deg.

2025-01-08T17:23:02.681Z,1736356982.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699070 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:02.926Z,1736356982.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.265201
2025-01-08T17:23:03.044Z,1736356983.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:03.053Z,1736356983.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:03.056Z,1736356983.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 367.474701 m,
      bearing: 270.539188 deg,
      approach rate: -0.779783 m/s,
      LOS rate: -0.006813 deg/s,
      cmd heading: 269.236877 deg,
      new cmd heading: 269.229170 deg.

2025-01-08T17:23:03.057Z,1736356983.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698936 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:03.177Z,1736356983.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.515739
2025-01-08T17:23:03.428Z,1736356983.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.767331
2025-01-08T17:23:03.457Z,1736356983.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:03.466Z,1736356983.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:03.469Z,1736356983.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 367.153320 m,
      bearing: 270.536479 deg,
      approach rate: -0.778718 m/s,
      LOS rate: -0.006570 deg/s,
      cmd heading: 269.229173 deg,
      new cmd heading: 269.221039 deg.

2025-01-08T17:23:03.470Z,1736356983.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698793 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:03.682Z,1736356983.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.021152
2025-01-08T17:23:03.886Z,1736356983.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:03.897Z,1736356983.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:03.899Z,1736356983.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 366.826294 m,
      bearing: 270.534606 deg,
      approach rate: -0.759836 m/s,
      LOS rate: -0.004356 deg/s,
      cmd heading: 269.221031 deg,
      new cmd heading: 269.215406 deg.

2025-01-08T17:23:03.900Z,1736356983.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698695 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:03.932Z,1736356983.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.271434
2025-01-08T17:23:04.184Z,1736356984.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.523373
2025-01-08T17:23:04.263Z,1736356984.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:04.277Z,1736356984.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:04.279Z,1736356984.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 366.537506 m,
      bearing: 270.533121 deg,
      approach rate: -0.759728 m/s,
      LOS rate: -0.003908 deg/s,
      cmd heading: 269.215403 deg,
      new cmd heading: 269.210946 deg.

2025-01-08T17:23:04.281Z,1736356984.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698617 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:04.437Z,1736356984.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.775726
2025-01-08T17:23:04.689Z,1736356984.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.028297
2025-01-08T17:23:04.721Z,1736356984.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:04.730Z,1736356984.730 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:04.749Z,1736356984.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:04.760Z,1736356984.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 366.204926 m,
      bearing: 270.530834 deg,
      approach rate: -0.703673 m/s,
      LOS rate: -0.004844 deg/s,
      cmd heading: 269.210950 deg,
      new cmd heading: 269.204081 deg.

2025-01-08T17:23:04.761Z,1736356984.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698498 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:04.940Z,1736356984.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.279371
2025-01-08T17:23:05.060Z,1736356985.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:05.087Z,1736356985.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:05.090Z,1736356985.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 365.958618 m,
      bearing: 270.529279 deg,
      approach rate: -0.729154 m/s,
      LOS rate: -0.004604 deg/s,
      cmd heading: 269.204092 deg,
      new cmd heading: 269.199427 deg.

2025-01-08T17:23:05.091Z,1736356985.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698416 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:05.192Z,1736356985.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.531522
2025-01-08T17:23:05.444Z,1736356985.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.783496
2025-01-08T17:23:05.465Z,1736356985.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:05.474Z,1736356985.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:05.477Z,1736356985.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 365.663940 m,
      bearing: 270.527487 deg,
      approach rate: -0.761536 m/s,
      LOS rate: -0.004636 deg/s,
      cmd heading: 269.199421 deg,
      new cmd heading: 269.194038 deg.

2025-01-08T17:23:05.478Z,1736356985.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698322 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:05.697Z,1736356985.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.036166
2025-01-08T17:23:05.901Z,1736356985.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:05.935Z,1736356985.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:05.949Z,1736356985.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.288321
2025-01-08T17:23:05.950Z,1736356985.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 365.361206 m,
      bearing: 270.526309 deg,
      approach rate: -0.657348 m/s,
      LOS rate: -0.002560 deg/s,
      cmd heading: 269.194038 deg,
      new cmd heading: 269.190501 deg.

2025-01-08T17:23:05.956Z,1736356985.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698261 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:06.202Z,1736356986.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.540933
2025-01-08T17:23:06.284Z,1736356986.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:06.293Z,1736356986.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:06.296Z,1736356986.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 365.095276 m,
      bearing: 270.525285 deg,
      approach rate: -0.741469 m/s,
      LOS rate: -0.002856 deg/s,
      cmd heading: 269.190514 deg,
      new cmd heading: 269.187441 deg.

2025-01-08T17:23:06.298Z,1736356986.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698207 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:06.452Z,1736356986.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.791380
2025-01-08T17:23:06.716Z,1736356986.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.054455
2025-01-08T17:23:06.744Z,1736356986.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:06.752Z,1736356986.752 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:06.754Z,1736356986.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:06.782Z,1736356986.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 364.787537 m,
      bearing: 270.522939 deg,
      approach rate: -0.667129 m/s,
      LOS rate: -0.005089 deg/s,
      cmd heading: 269.187454 deg,
      new cmd heading: 269.180411 deg.

2025-01-08T17:23:06.792Z,1736356986.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698084 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:06.968Z,1736356986.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.307667
2025-01-08T17:23:07.093Z,1736356987.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:07.108Z,1736356987.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:07.111Z,1736356987.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 364.554565 m,
      bearing: 270.521137 deg,
      approach rate: -0.660797 m/s,
      LOS rate: -0.005116 deg/s,
      cmd heading: 269.180405 deg,
      new cmd heading: 269.174995 deg.

2025-01-08T17:23:07.112Z,1736356987.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697990 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:07.225Z,1736356987.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.563933
2025-01-08T17:23:07.477Z,1736356987.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.815798
2025-01-08T17:23:07.493Z,1736356987.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:07.532Z,1736356987.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:07.535Z,1736356987.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 364.286682 m,
      bearing: 270.519027 deg,
      approach rate: -0.637811 m/s,
      LOS rate: -0.005027 deg/s,
      cmd heading: 269.174996 deg,
      new cmd heading: 269.168662 deg.

2025-01-08T17:23:07.540Z,1736356987.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697879 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:07.728Z,1736356987.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067573
2025-01-08T17:23:07.937Z,1736356987.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:07.946Z,1736356987.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:07.950Z,1736356987.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 364.004852 m,
      bearing: 270.517629 deg,
      approach rate: -0.672864 m/s,
      LOS rate: -0.003340 deg/s,
      cmd heading: 269.168657 deg,
      new cmd heading: 269.164460 deg.

2025-01-08T17:23:07.953Z,1736356987.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697806 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:07.981Z,1736356987.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.319582
2025-01-08T17:23:08.234Z,1736356988.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573175
2025-01-08T17:23:08.316Z,1736356988.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:08.324Z,1736356988.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:08.327Z,1736356988.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 363.764771 m,
      bearing: 270.516325 deg,
      approach rate: -0.634330 m/s,
      LOS rate: -0.003447 deg/s,
      cmd heading: 269.164450 deg,
      new cmd heading: 269.160536 deg.

2025-01-08T17:23:08.328Z,1736356988.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697738 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:08.484Z,1736356988.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.823561
2025-01-08T17:23:08.736Z,1736356988.736 [DAT](INFO): Reached modem response timeout
2025-01-08T17:23:08.736Z,1736356988.736 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:23:08.736Z,1736356988.736 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:23:08.803Z,1736356988.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:08.809Z,1736356988.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:08.812Z,1736356988.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:08.816Z,1736356988.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 363.463959 m,
      bearing: 270.514996 deg,
      approach rate: -0.617715 m/s,
      LOS rate: -0.002732 deg/s,
      cmd heading: 269.160543 deg,
      new cmd heading: 269.156552 deg.

2025-01-08T17:23:08.817Z,1736356988.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697668 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:08.988Z,1736356988.988 [DAT](INFO): Reached modem response timeout
2025-01-08T17:23:08.988Z,1736356988.988 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:23:08.988Z,1736356988.988 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:23:09.112Z,1736356989.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:09.142Z,1736356989.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:09.149Z,1736356989.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 363.272522 m,
      bearing: 270.514095 deg,
      approach rate: -0.579707 m/s,
      LOS rate: -0.002731 deg/s,
      cmd heading: 269.156554 deg,
      new cmd heading: 269.153848 deg.

2025-01-08T17:23:09.150Z,1736356989.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697621 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:09.241Z,1736356989.241 [DAT](INFO): Reached modem response timeout
2025-01-08T17:23:09.241Z,1736356989.241 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:23:09.241Z,1736356989.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:23:09.492Z,1736356989.492 [DAT](INFO): Reached modem response timeout
2025-01-08T17:23:09.492Z,1736356989.492 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:23:09.492Z,1736356989.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:23:09.542Z,1736356989.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:09.552Z,1736356989.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:09.554Z,1736356989.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 363.007019 m,
      bearing: 270.512758 deg,
      approach rate: -0.648210 m/s,
      LOS rate: -0.003265 deg/s,
      cmd heading: 269.153850 deg,
      new cmd heading: 269.149838 deg.

2025-01-08T17:23:09.556Z,1736356989.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697551 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:09.744Z,1736356989.744 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:23:09.745Z,1736356989.745 [DAT](INFO): response not received
2025-01-08T17:23:09.745Z,1736356989.745 [DAT](INFO): DAT read: user:98>

2025-01-08T17:23:09.746Z,1736356989.746 [DAT](INFO): DAT read: Tx time:17:23:08.9331

2025-01-08T17:23:09.746Z,1736356989.746 [DAT](INFO): Ping request sent.
2025-01-08T17:23:09.746Z,1736356989.746 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:23:09.747Z,1736356989.747 [DAT](INFO): publishing transmit ping time
2025-01-08T17:23:09.748Z,1736356989.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001623
2025-01-08T17:23:09.970Z,1736356989.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:09.979Z,1736356989.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:09.982Z,1736356989.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 362.747986 m,
      bearing: 270.511582 deg,
      approach rate: -0.605938 m/s,
      LOS rate: -0.002753 deg/s,
      cmd heading: 269.149833 deg,
      new cmd heading: 269.146302 deg.

2025-01-08T17:23:09.984Z,1736356989.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697489 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:09.997Z,1736356989.997 [DAT](INFO): DAT read: TxSync time:17:23:08.9323

2025-01-08T17:23:09.997Z,1736356989.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251138
2025-01-08T17:23:10.248Z,1736356990.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502133
2025-01-08T17:23:10.321Z,1736356990.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:10.330Z,1736356990.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:10.333Z,1736356990.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 362.535828 m,
      bearing: 270.510670 deg,
      approach rate: -0.604715 m/s,
      LOS rate: -0.002602 deg/s,
      cmd heading: 269.146309 deg,
      new cmd heading: 269.143570 deg.

2025-01-08T17:23:10.334Z,1736356990.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697442 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:10.500Z,1736356990.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754144
2025-01-08T17:23:10.752Z,1736356990.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006211
2025-01-08T17:23:10.781Z,1736356990.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:10.790Z,1736356990.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:10.809Z,1736356990.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 362.255371 m,
      bearing: 270.508402 deg,
      approach rate: -0.609558 m/s,
      LOS rate: -0.004932 deg/s,
      cmd heading: 269.143577 deg,
      new cmd heading: 269.136769 deg.

2025-01-08T17:23:10.810Z,1736356990.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697323 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:11.006Z,1736356991.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259447
2025-01-08T17:23:11.132Z,1736356991.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:11.154Z,1736356991.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:11.156Z,1736356991.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:11.159Z,1736356991.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 362.041931 m,
      bearing: 270.506617 deg,
      approach rate: -0.582135 m/s,
      LOS rate: -0.004871 deg/s,
      cmd heading: 269.136774 deg,
      new cmd heading: 269.131416 deg.

2025-01-08T17:23:11.164Z,1736356991.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697229 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:11.256Z,1736356991.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510200
2025-01-08T17:23:11.512Z,1736356991.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766027
2025-01-08T17:23:11.539Z,1736356991.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:11.549Z,1736356991.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:11.552Z,1736356991.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 361.793671 m,
      bearing: 270.504442 deg,
      approach rate: -0.632298 m/s,
      LOS rate: -0.005543 deg/s,
      cmd heading: 269.131419 deg,
      new cmd heading: 269.124890 deg.

2025-01-08T17:23:11.553Z,1736356991.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697115 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:11.765Z,1736356991.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018643
2025-01-08T17:23:11.968Z,1736356991.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:11.984Z,1736356991.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:12.004Z,1736356992.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 361.524933 m,
      bearing: 270.501812 deg,
      approach rate: -0.619398 m/s,
      LOS rate: -0.006066 deg/s,
      cmd heading: 269.124890 deg,
      new cmd heading: 269.116994 deg.

2025-01-08T17:23:12.005Z,1736356992.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696978 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:12.019Z,1736356992.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272307
2025-01-08T17:23:12.268Z,1736356992.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522152
2025-01-08T17:23:12.341Z,1736356992.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:12.350Z,1736356992.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:12.353Z,1736356992.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 361.291290 m,
      bearing: 270.499538 deg,
      approach rate: -0.635646 m/s,
      LOS rate: -0.006193 deg/s,
      cmd heading: 269.116994 deg,
      new cmd heading: 269.110165 deg.

2025-01-08T17:23:12.354Z,1736356992.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696858 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:12.520Z,1736356992.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774075
2025-01-08T17:23:12.772Z,1736356992.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026201
2025-01-08T17:23:12.825Z,1736356992.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:12.835Z,1736356992.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:12.840Z,1736356992.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 360.971588 m,
      bearing: 270.496008 deg,
      approach rate: -0.660334 m/s,
      LOS rate: -0.007297 deg/s,
      cmd heading: 269.110164 deg,
      new cmd heading: 269.099565 deg.

2025-01-08T17:23:12.841Z,1736356992.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696673 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:13.029Z,1736356993.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281919
2025-01-08T17:23:13.159Z,1736356993.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:13.167Z,1736356993.167 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:13.169Z,1736356993.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:13.172Z,1736356993.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 360.751099 m,
      bearing: 270.493599 deg,
      approach rate: -0.658337 m/s,
      LOS rate: -0.007198 deg/s,
      cmd heading: 269.099563 deg,
      new cmd heading: 269.092331 deg.

2025-01-08T17:23:13.173Z,1736356993.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696547 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:13.277Z,1736356993.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531331
2025-01-08T17:23:13.528Z,1736356993.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782309
2025-01-08T17:23:13.561Z,1736356993.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:13.570Z,1736356993.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:13.573Z,1736356993.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 360.485596 m,
      bearing: 270.490730 deg,
      approach rate: -0.662945 m/s,
      LOS rate: -0.007169 deg/s,
      cmd heading: 269.092323 deg,
      new cmd heading: 269.083710 deg.

2025-01-08T17:23:13.574Z,1736356993.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696397 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:13.781Z,1736356993.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035274
2025-01-08T17:23:13.974Z,1736356993.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:14.012Z,1736356994.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:14.017Z,1736356994.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 360.196808 m,
      bearing: 270.487472 deg,
      approach rate: -0.660700 m/s,
      LOS rate: -0.007458 deg/s,
      cmd heading: 269.083717 deg,
      new cmd heading: 269.073937 deg.

2025-01-08T17:23:14.028Z,1736356994.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696226 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:14.032Z,1736356994.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286209
2025-01-08T17:23:14.284Z,1736356994.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538148
2025-01-08T17:23:14.364Z,1736356994.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:14.373Z,1736356994.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:14.376Z,1736356994.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 359.924500 m,
      bearing: 270.484439 deg,
      approach rate: -0.744323 m/s,
      LOS rate: -0.008296 deg/s,
      cmd heading: 269.073936 deg,
      new cmd heading: 269.064831 deg.

2025-01-08T17:23:14.377Z,1736356994.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696067 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:14.536Z,1736356994.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790155
2025-01-08T17:23:14.807Z,1736356994.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.060615
2025-01-08T17:23:14.839Z,1736356994.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:14.849Z,1736356994.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:14.851Z,1736356994.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 359.576599 m,
      bearing: 270.480030 deg,
      approach rate: -0.731250 m/s,
      LOS rate: -0.009276 deg/s,
      cmd heading: 269.064839 deg,
      new cmd heading: 269.051598 deg.

2025-01-08T17:23:14.853Z,1736356994.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695836 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:15.040Z,1736356995.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294069
2025-01-08T17:23:15.172Z,1736356995.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:15.178Z,1736356995.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:15.181Z,1736356995.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:15.184Z,1736356995.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 359.333130 m,
      bearing: 270.477006 deg,
      approach rate: -0.731407 m/s,
      LOS rate: -0.009091 deg/s,
      cmd heading: 269.051588 deg,
      new cmd heading: 269.042509 deg.

2025-01-08T17:23:15.185Z,1736356995.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695678 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:15.292Z,1736356995.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546209
2025-01-08T17:23:15.550Z,1736356995.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.804148
2025-01-08T17:23:15.575Z,1736356995.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:15.605Z,1736356995.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:15.614Z,1736356995.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 359.036896 m,
      bearing: 270.473420 deg,
      approach rate: -0.699248 m/s,
      LOS rate: -0.008471 deg/s,
      cmd heading: 269.042517 deg,
      new cmd heading: 269.031751 deg.

2025-01-08T17:23:15.620Z,1736356995.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695490 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:15.801Z,1736356995.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054736
2025-01-08T17:23:16.053Z,1736356996.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307093
2025-01-08T17:23:16.118Z,1736356996.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:16.127Z,1736356996.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:16.130Z,1736356996.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 358.622925 m,
      bearing: 270.469520 deg,
      approach rate: -0.793591 m/s,
      LOS rate: -0.007485 deg/s,
      cmd heading: 269.031753 deg,
      new cmd heading: 269.020040 deg.

2025-01-08T17:23:16.131Z,1736356996.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695285 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:16.305Z,1736356996.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558872
2025-01-08T17:23:16.457Z,1736356996.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:16.466Z,1736356996.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:16.469Z,1736356996.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 358.364868 m,
      bearing: 270.467222 deg,
      approach rate: -0.760525 m/s,
      LOS rate: -0.006780 deg/s,
      cmd heading: 269.020032 deg,
      new cmd heading: 269.013131 deg.

2025-01-08T17:23:16.470Z,1736356996.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695165 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:16.556Z,1736356996.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.810127
2025-01-08T17:23:16.821Z,1736356996.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.074126
2025-01-08T17:23:16.899Z,1736356996.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:16.908Z,1736356996.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:16.910Z,1736356996.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 358.024872 m,
      bearing: 270.463974 deg,
      approach rate: -0.770299 m/s,
      LOS rate: -0.007365 deg/s,
      cmd heading: 269.013120 deg,
      new cmd heading: 269.003367 deg.

2025-01-08T17:23:16.912Z,1736356996.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694994 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:17.069Z,1736356997.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.323324
2025-01-08T17:23:17.272Z,1736356997.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:17.279Z,1736356997.279 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:17.300Z,1736356997.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:17.302Z,1736356997.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 357.737671 m,
      bearing: 270.461300 deg,
      approach rate: -0.732620 m/s,
      LOS rate: -0.006827 deg/s,
      cmd heading: 269.003367 deg,
      new cmd heading: 268.995338 deg.

2025-01-08T17:23:17.312Z,1736356997.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694854 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:17.320Z,1736356997.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.574223
2025-01-08T17:23:17.573Z,1736356997.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.826760
2025-01-08T17:23:17.680Z,1736356997.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:17.691Z,1736356997.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:17.695Z,1736356997.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 357.424438 m,
      bearing: 270.458474 deg,
      approach rate: -0.801596 m/s,
      LOS rate: -0.007237 deg/s,
      cmd heading: 268.995334 deg,
      new cmd heading: 268.986851 deg.

2025-01-08T17:23:17.697Z,1736356997.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694706 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:17.828Z,1736356997.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.080947
2025-01-08T17:23:18.076Z,1736356998.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.330155
2025-01-08T17:23:18.128Z,1736356998.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:18.137Z,1736356998.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:18.140Z,1736356998.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 357.080902 m,
      bearing: 270.456082 deg,
      approach rate: -0.769657 m/s,
      LOS rate: -0.005365 deg/s,
      cmd heading: 268.986838 deg,
      new cmd heading: 268.979654 deg.

2025-01-08T17:23:18.143Z,1736356998.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694581 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:18.328Z,1736356998.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.582205
2025-01-08T17:23:18.489Z,1736356998.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:18.498Z,1736356998.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:18.501Z,1736356998.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 356.804657 m,
      bearing: 270.454288 deg,
      approach rate: -0.764639 m/s,
      LOS rate: -0.004970 deg/s,
      cmd heading: 268.979652 deg,
      new cmd heading: 268.974266 deg.

2025-01-08T17:23:18.502Z,1736356998.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694487 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:18.581Z,1736356998.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.835112
2025-01-08T17:23:18.836Z,1736356998.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.089396
2025-01-08T17:23:18.929Z,1736356998.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:18.943Z,1736356998.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:18.962Z,1736356998.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 356.468719 m,
      bearing: 270.453141 deg,
      approach rate: -0.755038 m/s,
      LOS rate: -0.002581 deg/s,
      cmd heading: 268.974270 deg,
      new cmd heading: 268.970825 deg.

2025-01-08T17:23:18.963Z,1736356998.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694427 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:19.087Z,1736356999.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.339963
2025-01-08T17:23:19.291Z,1736356999.291 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:19.298Z,1736356999.298 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:19.301Z,1736356999.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:19.304Z,1736356999.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 356.192383 m,
      bearing: 270.452212 deg,
      approach rate: -0.771998 m/s,
      LOS rate: -0.002595 deg/s,
      cmd heading: 268.970828 deg,
      new cmd heading: 268.968041 deg.

2025-01-08T17:23:19.305Z,1736356999.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694378 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:19.337Z,1736356999.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.590247
2025-01-08T17:23:19.588Z,1736356999.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.842299
2025-01-08T17:23:19.697Z,1736356999.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:19.710Z,1736356999.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:19.715Z,1736356999.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 355.882568 m,
      bearing: 270.451221 deg,
      approach rate: -0.757002 m/s,
      LOS rate: -0.002425 deg/s,
      cmd heading: 268.968041 deg,
      new cmd heading: 268.965064 deg.

2025-01-08T17:23:19.744Z,1736356999.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694326 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:19.843Z,1736356999.843 [DAT](INFO): Reached modem response timeout
2025-01-08T17:23:19.844Z,1736356999.844 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:23:19.844Z,1736356999.844 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:23:20.092Z,1736357000.092 [DAT](INFO): Reached modem response timeout
2025-01-08T17:23:20.092Z,1736357000.092 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:23:20.092Z,1736357000.092 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:23:20.158Z,1736357000.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:20.167Z,1736357000.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:20.170Z,1736357000.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 355.542084 m,
      bearing: 270.450004 deg,
      approach rate: -0.745408 m/s,
      LOS rate: -0.002666 deg/s,
      cmd heading: 268.965063 deg,
      new cmd heading: 268.961410 deg.

2025-01-08T17:23:20.171Z,1736357000.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694262 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:20.344Z,1736357000.344 [DAT](INFO): Reached modem response timeout
2025-01-08T17:23:20.344Z,1736357000.344 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:23:20.344Z,1736357000.344 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:23:20.500Z,1736357000.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:20.509Z,1736357000.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:20.512Z,1736357000.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 355.290039 m,
      bearing: 270.449117 deg,
      approach rate: -0.735944 m/s,
      LOS rate: -0.002594 deg/s,
      cmd heading: 268.961402 deg,
      new cmd heading: 268.958737 deg.

2025-01-08T17:23:20.515Z,1736357000.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694215 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:20.598Z,1736357000.598 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:23:20.600Z,1736357000.600 [DAT](INFO): response not received
2025-01-08T17:23:20.601Z,1736357000.601 [DAT](INFO): DAT read: user:99>

2025-01-08T17:23:20.602Z,1736357000.602 [DAT](INFO): DAT read: Tx time:17:23:19.8832

2025-01-08T17:23:20.603Z,1736357000.603 [DAT](INFO): Ping request sent.
2025-01-08T17:23:20.603Z,1736357000.603 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:23:20.603Z,1736357000.603 [DAT](INFO): publishing transmit ping time
2025-01-08T17:23:20.604Z,1736357000.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001367
2025-01-08T17:23:20.852Z,1736357000.852 [DAT](INFO): DAT read: TxSync time:17:23:19.8824

2025-01-08T17:23:20.856Z,1736357000.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252232
2025-01-08T17:23:20.966Z,1736357000.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-08T17:23:20.966Z,1736357000.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:20.975Z,1736357000.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:20.978Z,1736357000.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 354.947296 m,
      bearing: 270.447912 deg,
      approach rate: -0.736567 m/s,
      LOS rate: -0.002591 deg/s,
      cmd heading: 268.958725 deg,
      new cmd heading: 268.955108 deg.

2025-01-08T17:23:20.991Z,1736357000.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694152 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:21.100Z,1736357001.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497562
2025-01-08T17:23:21.327Z,1736357001.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:23:21.327Z,1736357001.327 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:21.335Z,1736357001.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:21.337Z,1736357001.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:21.342Z,1736357001.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 354.681091 m,
      bearing: 270.446975 deg,
      approach rate: -0.734344 m/s,
      LOS rate: -0.002587 deg/s,
      cmd heading: 268.955118 deg,
      new cmd heading: 268.952305 deg.

2025-01-08T17:23:21.343Z,1736357001.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694103 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:21.352Z,1736357001.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749676
2025-01-08T17:23:21.604Z,1736357001.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001540
2025-01-08T17:23:21.737Z,1736357001.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-08T17:23:21.737Z,1736357001.737 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:21.748Z,1736357001.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:21.767Z,1736357001.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 354.378998 m,
      bearing: 270.445910 deg,
      approach rate: -0.734394 m/s,
      LOS rate: -0.002591 deg/s,
      cmd heading: 268.952304 deg,
      new cmd heading: 268.949107 deg.

2025-01-08T17:23:21.773Z,1736357001.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694047 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:21.860Z,1736357001.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257104
2025-01-08T17:23:22.109Z,1736357002.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505879
2025-01-08T17:23:22.170Z,1736357002.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:22.194Z,1736357002.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:22.201Z,1736357002.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 354.079620 m,
      bearing: 270.446036 deg,
      approach rate: -0.671984 m/s,
      LOS rate: 0.000282 deg/s,
      cmd heading: 268.949108 deg,
      new cmd heading: 268.949484 deg.

2025-01-08T17:23:22.202Z,1736357002.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694054 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:22.360Z,1736357002.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757513
2025-01-08T17:23:22.521Z,1736357002.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:22.548Z,1736357002.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:22.554Z,1736357002.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 353.836792 m,
      bearing: 270.446088 deg,
      approach rate: -0.685039 m/s,
      LOS rate: 0.000146 deg/s,
      cmd heading: 268.949490 deg,
      new cmd heading: 268.949646 deg.

2025-01-08T17:23:22.555Z,1736357002.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694057 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:22.614Z,1736357002.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010937
2025-01-08T17:23:22.868Z,1736357002.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265004
2025-01-08T17:23:22.982Z,1736357002.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:22.991Z,1736357002.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:23.009Z,1736357003.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 353.529205 m,
      bearing: 270.446311 deg,
      approach rate: -0.695709 m/s,
      LOS rate: 0.000506 deg/s,
      cmd heading: 268.949654 deg,
      new cmd heading: 268.950326 deg.

2025-01-08T17:23:23.010Z,1736357003.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694069 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:23.118Z,1736357003.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515617
2025-01-08T17:23:23.323Z,1736357003.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:23.333Z,1736357003.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:23.351Z,1736357003.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 353.301514 m,
      bearing: 270.446415 deg,
      approach rate: -0.665860 m/s,
      LOS rate: 0.000303 deg/s,
      cmd heading: 268.950337 deg,
      new cmd heading: 268.950648 deg.

2025-01-08T17:23:23.352Z,1736357003.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694074 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:23.373Z,1736357003.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769823
2025-01-08T17:23:23.624Z,1736357003.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021723
2025-01-08T17:23:23.738Z,1736357003.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:23.753Z,1736357003.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:23.759Z,1736357003.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:23.762Z,1736357003.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 353.024170 m,
      bearing: 270.446525 deg,
      approach rate: -0.656323 m/s,
      LOS rate: 0.000262 deg/s,
      cmd heading: 268.950638 deg,
      new cmd heading: 268.950970 deg.

2025-01-08T17:23:23.780Z,1736357003.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694080 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:23.881Z,1736357003.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277469
2025-01-08T17:23:24.128Z,1736357004.128 [DAT](INFO): DAT read: Rx Time:17:23:22.8008

2025-01-08T17:23:24.129Z,1736357004.129 [DAT](INFO): Rx dataTimestamp_ set to:1736357004.128557
2025-01-08T17:23:24.129Z,1736357004.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526688
2025-01-08T17:23:24.195Z,1736357004.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:24.204Z,1736357004.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:24.206Z,1736357004.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 352.730865 m,
      bearing: 270.446422 deg,
      approach rate: -0.653710 m/s,
      LOS rate: -0.000230 deg/s,
      cmd heading: 268.950966 deg,
      new cmd heading: 268.950656 deg.

2025-01-08T17:23:24.208Z,1736357004.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694075 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:24.382Z,1736357004.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778964
2025-01-08T17:23:24.590Z,1736357004.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:24.600Z,1736357004.600 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:23:24.601Z,1736357004.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 403.50 m.
2025-01-08T17:23:24.604Z,1736357004.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 403.500000 m,
      nav range: 352.477325 m,
      bearing: 270.446306 deg,
      approach rate: -0.637609 m/s,
      LOS rate: -0.000292 deg/s,
      cmd heading: 268.950665 deg,
      new cmd heading: 268.950317 deg.

2025-01-08T17:23:24.605Z,1736357004.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694068 target range: 403.500000 and range: 403.50 m.
2025-01-08T17:23:24.640Z,1736357004.640 [DAT](INFO): DAT read: 17:23:22.8008 LVL=  9840, 12753,  9202, 13763, AGC= 66, IDX= 117, 0.36, 3.055, 1.630, 2.934, 2.338, PHS= 0.805,-0.661, 0.593, RAW= 142.3, -10.7, CAL= 149.4, -20.1, ROT=   0.6,  20.1

2025-01-08T17:23:24.641Z,1736357004.641 [DAT](INFO): got valid direction response:
 17:23:22.8008 LVL=  9840, 12753,  9202, 13763, AGC= 66, IDX= 117, 0.36, 3.055, 1.630, 2.934, 2.338, PHS= 0.805,-0.661, 0.593, RAW= 142.3, -10.7, CAL= 149.4, -20.1, ROT=   0.6,  20.1

2025-01-08T17:23:24.643Z,1736357004.643 [DAT](INFO): DAT read: Bearing   0.6,  20.1 (Local)

2025-01-08T17:23:24.643Z,1736357004.643 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.6,  20.1 (Local)

2025-01-08T17:23:24.646Z,1736357004.646 [DAT](INFO): DAT read: Range 10 to 50 : 385.0 m  (Round-trip  513.4 ms) speed  0.5 m/s

2025-01-08T17:23:24.648Z,1736357004.648 [DAT](INFO): DAT read: user:100>

2025-01-08T17:23:24.649Z,1736357004.649 [DAT](INFO): DAT read: Tx time:17:23:23.8833

2025-01-08T17:23:24.649Z,1736357004.649 [DAT](INFO): Ping request sent.
2025-01-08T17:23:24.649Z,1736357004.649 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:23:24.650Z,1736357004.650 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:23:24.652Z,1736357004.652 [DAT](INFO): direction in FSK: [0.939043,0.009834,-0.343660]
2025-01-08T17:23:24.653Z,1736357004.653 [DAT](INFO): publishing transmit ping time
2025-01-08T17:23:24.653Z,1736357004.653 [DAT](INFO): publishing direction and range info
2025-01-08T17:23:24.658Z,1736357004.658 [DAT](INFO): publishing transmit ping time
2025-01-08T17:23:24.658Z,1736357004.658 [DAT](INFO): publishing direction and range info
2025-01-08T17:23:24.888Z,1736357004.888 [DAT](INFO): DAT read: TxSync time:17:23:23.8825

2025-01-08T17:23:25.042Z,1736357005.042 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -87.04,     +.00
2025-01-08T17:23:25.051Z,1736357005.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-08T17:23:25.055Z,1736357005.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:25.078Z,1736357005.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 385.000000 m,
      deltaT: 25.992172 s,
      deltaX: -18.500000 m,
      approachRate: -0.711753 m/s,
      rangeRepo size: 4

2025-01-08T17:23:25.085Z,1736357005.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 385.000000 m,
      bearing: 271.881905 deg,
      lat: 36.904184 deg,
      lon: -122.119069 deg,
      deltaT: 25.992172 s,
      deltaX: -18.500000 m,
      approachRate: -0.711753 m/s,
      posRepo size: 4

2025-01-08T17:23:25.085Z,1736357005.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.00 m.
2025-01-08T17:23:25.093Z,1736357005.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 385.000000 m,
      nav range: 355.281921 m,
      bearing: 271.889878 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000292 deg/s,
      cmd heading: 268.950310 deg,
      new cmd heading: 268.949893 deg.

2025-01-08T17:23:25.094Z,1736357005.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694061 target range: 385.000000 and range: 385.00 m.
2025-01-08T17:23:25.384Z,1736357005.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:23:25.384Z,1736357005.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:25.394Z,1736357005.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.00 m.
2025-01-08T17:23:25.398Z,1736357005.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 385.000000 m,
      nav range: 355.068054 m,
      bearing: 271.890713 deg,
      approach rate: -0.676936 m/s,
      LOS rate: 0.002644 deg/s,
      cmd heading: 268.949900 deg,
      new cmd heading: 268.952406 deg.

2025-01-08T17:23:25.399Z,1736357005.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694105 target range: 385.000000 and range: 385.00 m.
2025-01-08T17:23:25.604Z,1736357005.604 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:23:25.787Z,1736357005.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-08T17:23:25.787Z,1736357005.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:25.810Z,1736357005.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:25.813Z,1736357005.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.00 m.
2025-01-08T17:23:25.820Z,1736357005.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 385.000000 m,
      nav range: 354.809418 m,
      bearing: 271.891786 deg,
      approach rate: -0.617252 m/s,
      LOS rate: 0.002563 deg/s,
      cmd heading: 268.952414 deg,
      new cmd heading: 268.955635 deg.

2025-01-08T17:23:25.821Z,1736357005.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694161 target range: 385.000000 and range: 385.00 m.
2025-01-08T17:23:25.895Z,1736357005.895 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:23:25.895Z,1736357005.895 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:23:25.896Z,1736357005.896 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:23:26.144Z,1736357006.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494904
2025-01-08T17:23:26.235Z,1736357006.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:26.243Z,1736357006.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.00 m.
2025-01-08T17:23:26.246Z,1736357006.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 385.000000 m,
      nav range: 354.539490 m,
      bearing: 271.891683 deg,
      approach rate: -0.626952 m/s,
      LOS rate: -0.000239 deg/s,
      cmd heading: 268.955637 deg,
      new cmd heading: 268.955329 deg.

2025-01-08T17:23:26.247Z,1736357006.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694156 target range: 385.000000 and range: 385.00 m.
2025-01-08T17:23:26.397Z,1736357006.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747714
2025-01-08T17:23:26.605Z,1736357006.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:26.617Z,1736357006.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.00 m.
2025-01-08T17:23:26.621Z,1736357006.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 385.000000 m,
      nav range: 354.316559 m,
      bearing: 271.891482 deg,
      approach rate: -0.595540 m/s,
      LOS rate: -0.000536 deg/s,
      cmd heading: 268.955337 deg,
      new cmd heading: 268.954735 deg.

2025-01-08T17:23:26.622Z,1736357006.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694146 target range: 385.000000 and range: 385.00 m.
2025-01-08T17:23:26.648Z,1736357006.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998947
2025-01-08T17:23:26.900Z,1736357006.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251108
2025-01-08T17:23:27.035Z,1736357007.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:27.044Z,1736357007.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.00 m.
2025-01-08T17:23:27.048Z,1736357007.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 385.000000 m,
      nav range: 354.055634 m,
      bearing: 271.890617 deg,
      approach rate: -0.612021 m/s,
      LOS rate: -0.002030 deg/s,
      cmd heading: 268.954736 deg,
      new cmd heading: 268.952139 deg.

2025-01-08T17:23:27.049Z,1736357007.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694100 target range: 385.000000 and range: 385.00 m.
2025-01-08T17:23:27.152Z,1736357007.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503025
2025-01-08T17:23:27.395Z,1736357007.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:27.408Z,1736357007.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758889
2025-01-08T17:23:27.440Z,1736357007.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.00 m.
2025-01-08T17:23:27.443Z,1736357007.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 385.000000 m,
      nav range: 353.837067 m,
      bearing: 271.889795 deg,
      approach rate: -0.551498 m/s,
      LOS rate: -0.002077 deg/s,
      cmd heading: 268.952140 deg,
      new cmd heading: 268.949671 deg.

2025-01-08T17:23:27.449Z,1736357007.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694057 target range: 385.000000 and range: 385.00 m.
2025-01-08T17:23:27.664Z,1736357007.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014932
2025-01-08T17:23:27.812Z,1736357007.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:27.838Z,1736357007.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:27.840Z,1736357007.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.00 m.
2025-01-08T17:23:27.843Z,1736357007.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 385.000000 m,
      nav range: 353.583588 m,
      bearing: 271.888760 deg,
      approach rate: -0.633555 m/s,
      LOS rate: -0.002587 deg/s,
      cmd heading: 268.949682 deg,
      new cmd heading: 268.946576 deg.

2025-01-08T17:23:27.844Z,1736357007.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694003 target range: 385.000000 and range: 385.00 m.
2025-01-08T17:23:27.917Z,1736357007.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267112
2025-01-08T17:23:28.165Z,1736357008.165 [DAT](INFO): DAT read: Rx Time:17:23:26.7983

2025-01-08T17:23:28.166Z,1736357008.166 [DAT](INFO): Rx dataTimestamp_ set to:1736357008.165249
2025-01-08T17:23:28.166Z,1736357008.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516732
2025-01-08T17:23:28.270Z,1736357008.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:28.279Z,1736357008.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.00 m.
2025-01-08T17:23:28.284Z,1736357008.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 385.000000 m,
      nav range: 353.300781 m,
      bearing: 271.886423 deg,
      approach rate: -0.644764 m/s,
      LOS rate: -0.005332 deg/s,
      cmd heading: 268.946567 deg,
      new cmd heading: 268.939551 deg.

2025-01-08T17:23:28.286Z,1736357008.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693881 target range: 385.000000 and range: 385.00 m.
2025-01-08T17:23:28.416Z,1736357008.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766944
2025-01-08T17:23:28.625Z,1736357008.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:28.634Z,1736357008.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 385.00 m.
2025-01-08T17:23:28.637Z,1736357008.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 385.000000 m,
      nav range: 353.082153 m,
      bearing: 271.884542 deg,
      approach rate: -0.615063 m/s,
      LOS rate: -0.005298 deg/s,
      cmd heading: 268.939546 deg,
      new cmd heading: 268.933896 deg.

2025-01-08T17:23:28.638Z,1736357008.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693782 target range: 385.000000 and range: 385.00 m.
2025-01-08T17:23:28.674Z,1736357008.674 [DAT](INFO): DAT read: 17:23:26.7983 LVL= 23072, 30545, 19874, 32755, AGC= 67, IDX= 408, 0.44, 0.730,-0.798, 0.688, 0.030, PHS= 0.788,-0.781, 0.655, RAW= 145.6,  -8.8, CAL= 152.0, -17.6, ROT= 358.0,  17.6

2025-01-08T17:23:28.676Z,1736357008.676 [DAT](INFO): got valid direction response:
 17:23:26.7983 LVL= 23072, 30545, 19874, 32755, AGC= 67, IDX= 408, 0.44, 0.730,-0.798, 0.688, 0.030, PHS= 0.788,-0.781, 0.655, RAW= 145.6,  -8.8, CAL= 152.0, -17.6, ROT= 358.0,  17.6

2025-01-08T17:23:28.677Z,1736357008.677 [DAT](INFO): DAT read: Bearing 358.0,  17.6 (Local)

2025-01-08T17:23:28.677Z,1736357008.677 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.0,  17.6 (Local)

2025-01-08T17:23:28.678Z,1736357008.678 [DAT](INFO): DAT read: Range 10 to 50 : 383.1 m  (Round-trip  510.9 ms) speed  0.8 m/s

2025-01-08T17:23:28.679Z,1736357008.679 [DAT](INFO): DAT read: user:101>

2025-01-08T17:23:28.681Z,1736357008.681 [DAT](INFO): DAT read: Tx time:17:23:27.8833

2025-01-08T17:23:28.681Z,1736357008.681 [DAT](INFO): Ping request sent.
2025-01-08T17:23:28.681Z,1736357008.681 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:23:28.681Z,1736357008.681 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:23:28.682Z,1736357008.682 [DAT](INFO): direction in FSK: [0.952610,-0.033266,-0.302370]
2025-01-08T17:23:28.682Z,1736357008.682 [DAT](INFO): publishing transmit ping time
2025-01-08T17:23:28.683Z,1736357008.683 [DAT](INFO): publishing direction and range info
2025-01-08T17:23:28.686Z,1736357008.686 [DAT](INFO): publishing transmit ping time
2025-01-08T17:23:28.686Z,1736357008.686 [DAT](INFO): publishing direction and range info
2025-01-08T17:23:28.921Z,1736357008.921 [DAT](INFO): DAT read: TxSync time:17:23:27.8825

2025-01-08T17:23:29.086Z,1736357009.086 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:29.124Z,1736357009.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 383.100006 m,
      deltaT: 4.035572 s,
      deltaX: -1.899994 m,
      approachRate: -0.470812 m/s,
      rangeRepo size: 4

2025-01-08T17:23:29.127Z,1736357009.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 383.100006 m,
      bearing: 269.691058 deg,
      lat: 36.904184 deg,
      lon: -122.119076 deg,
      deltaT: 4.035572 s,
      deltaX: -1.899994 m,
      approachRate: -0.470812 m/s,
      posRepo size: 4

2025-01-08T17:23:29.128Z,1736357009.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.10 m.
2025-01-08T17:23:29.140Z,1736357009.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.100006 m,
      nav range: 353.392914 m,
      bearing: 271.879405 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005298 deg/s,
      cmd heading: 268.933890 deg,
      new cmd heading: 268.926179 deg.

2025-01-08T17:23:29.141Z,1736357009.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693647 target range: 383.100006 and range: 383.10 m.
2025-01-08T17:23:29.423Z,1736357009.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:29.433Z,1736357009.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.10 m.
2025-01-08T17:23:29.436Z,1736357009.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.100006 m,
      nav range: 353.176575 m,
      bearing: 271.878096 deg,
      approach rate: -0.688987 m/s,
      LOS rate: -0.004173 deg/s,
      cmd heading: 268.926186 deg,
      new cmd heading: 268.922255 deg.

2025-01-08T17:23:29.437Z,1736357009.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693579 target range: 383.100006 and range: 383.10 m.
2025-01-08T17:23:29.838Z,1736357009.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:29.845Z,1736357009.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:29.848Z,1736357009.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.10 m.
2025-01-08T17:23:29.851Z,1736357009.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.100006 m,
      nav range: 352.909393 m,
      bearing: 271.876530 deg,
      approach rate: -0.643663 m/s,
      LOS rate: -0.003775 deg/s,
      cmd heading: 268.922251 deg,
      new cmd heading: 268.917551 deg.

2025-01-08T17:23:29.852Z,1736357009.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693497 target range: 383.100006 and range: 383.10 m.
2025-01-08T17:23:29.930Z,1736357009.930 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:23:29.930Z,1736357009.930 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:23:29.930Z,1736357009.930 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:23:30.181Z,1736357010.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500194
2025-01-08T17:23:30.303Z,1736357010.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:30.312Z,1736357010.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.10 m.
2025-01-08T17:23:30.314Z,1736357010.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.100006 m,
      nav range: 352.593567 m,
      bearing: 271.875588 deg,
      approach rate: -0.682204 m/s,
      LOS rate: -0.002036 deg/s,
      cmd heading: 268.917552 deg,
      new cmd heading: 268.914724 deg.

2025-01-08T17:23:30.317Z,1736357010.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693447 target range: 383.100006 and range: 383.10 m.
2025-01-08T17:23:30.432Z,1736357010.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751390
2025-01-08T17:23:30.651Z,1736357010.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:30.660Z,1736357010.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.10 m.
2025-01-08T17:23:30.664Z,1736357010.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.100006 m,
      nav range: 352.356781 m,
      bearing: 271.874752 deg,
      approach rate: -0.679349 m/s,
      LOS rate: -0.002401 deg/s,
      cmd heading: 268.914711 deg,
      new cmd heading: 268.912201 deg.

2025-01-08T17:23:30.665Z,1736357010.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693403 target range: 383.100006 and range: 383.10 m.
2025-01-08T17:23:30.684Z,1736357010.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003245
2025-01-08T17:23:30.936Z,1736357010.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255201
2025-01-08T17:23:31.098Z,1736357011.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:31.107Z,1736357011.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.10 m.
2025-01-08T17:23:31.110Z,1736357011.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.100006 m,
      nav range: 352.033142 m,
      bearing: 271.874031 deg,
      approach rate: -0.724692 m/s,
      LOS rate: -0.001615 deg/s,
      cmd heading: 268.912197 deg,
      new cmd heading: 268.910033 deg.

2025-01-08T17:23:31.111Z,1736357011.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693366 target range: 383.100006 and range: 383.10 m.
2025-01-08T17:23:31.189Z,1736357011.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507719
2025-01-08T17:23:31.440Z,1736357011.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759126
2025-01-08T17:23:31.536Z,1736357011.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:31.553Z,1736357011.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.10 m.
2025-01-08T17:23:31.560Z,1736357011.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.100006 m,
      nav range: 351.716522 m,
      bearing: 271.873269 deg,
      approach rate: -0.709469 m/s,
      LOS rate: -0.001709 deg/s,
      cmd heading: 268.910039 deg,
      new cmd heading: 268.907751 deg.

2025-01-08T17:23:31.561Z,1736357011.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693326 target range: 383.100006 and range: 383.10 m.
2025-01-08T17:23:31.693Z,1736357011.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011949
2025-01-08T17:23:31.944Z,1736357011.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263306
2025-01-08T17:23:32.088Z,1736357012.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:32.094Z,1736357012.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:32.097Z,1736357012.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.10 m.
2025-01-08T17:23:32.100Z,1736357012.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.100006 m,
      nav range: 351.294647 m,
      bearing: 271.872582 deg,
      approach rate: -0.774755 m/s,
      LOS rate: -0.001263 deg/s,
      cmd heading: 268.907744 deg,
      new cmd heading: 268.905681 deg.

2025-01-08T17:23:32.101Z,1736357012.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693289 target range: 383.100006 and range: 383.10 m.
2025-01-08T17:23:32.197Z,1736357012.197 [DAT](INFO): DAT read: Rx Time:17:23:30.7958

2025-01-08T17:23:32.198Z,1736357012.198 [DAT](INFO): Rx dataTimestamp_ set to:1736357012.197337
2025-01-08T17:23:32.198Z,1736357012.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517126
2025-01-08T17:23:32.450Z,1736357012.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768659
2025-01-08T17:23:32.508Z,1736357012.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:32.553Z,1736357012.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.10 m.
2025-01-08T17:23:32.560Z,1736357012.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 383.100006 m,
      nav range: 350.974060 m,
      bearing: 271.872059 deg,
      approach rate: -0.703173 m/s,
      LOS rate: -0.001148 deg/s,
      cmd heading: 268.905668 deg,
      new cmd heading: 268.904097 deg.

2025-01-08T17:23:32.561Z,1736357012.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693262 target range: 383.100006 and range: 383.10 m.
2025-01-08T17:23:32.709Z,1736357012.709 [DAT](INFO): DAT read: 17:23:30.7958 LVL= 24032, 31345, 22434, 32755, AGC= 68, IDX= 418, 0.00,-1.722,-3.123,-1.636,-2.361, PHS= 0.727,-0.716, 0.722, RAW= 149.8, -10.2, CAL= 156.3, -18.2, ROT= 353.7,  18.2

2025-01-08T17:23:32.710Z,1736357012.710 [DAT](INFO): got valid direction response:
 17:23:30.7958 LVL= 24032, 31345, 22434, 32755, AGC= 68, IDX= 418, 0.00,-1.722,-3.123,-1.636,-2.361, PHS= 0.727,-0.716, 0.722, RAW= 149.8, -10.2, CAL= 156.3, -18.2, ROT= 353.7,  18.2

2025-01-08T17:23:32.718Z,1736357012.718 [DAT](INFO): DAT read: Bearing 353.7,  18.2 (Local)

2025-01-08T17:23:32.720Z,1736357012.720 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.7,  18.2 (Local)

2025-01-08T17:23:32.722Z,1736357012.722 [DAT](INFO): DAT read: Range 10 to 50 : 381.2 m  (Round-trip  508.3 ms) speed  0.4 m/s

2025-01-08T17:23:32.724Z,1736357012.724 [DAT](INFO): DAT read: user:102>

2025-01-08T17:23:32.725Z,1736357012.725 [DAT](INFO): DAT read: Tx time:17:23:31.8833

2025-01-08T17:23:32.725Z,1736357012.725 [DAT](INFO): Ping request sent.
2025-01-08T17:23:32.725Z,1736357012.725 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:23:32.726Z,1736357012.726 [DAT](INFO): DAT read: TxSync time:17:23:31.8825

2025-01-08T17:23:32.726Z,1736357012.726 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:23:32.733Z,1736357012.733 [DAT](INFO): direction in FSK: [0.944235,-0.104244,-0.312335]
2025-01-08T17:23:32.733Z,1736357012.733 [DAT](INFO): publishing transmit ping time
2025-01-08T17:23:32.733Z,1736357012.733 [DAT](INFO): publishing direction and range info
2025-01-08T17:23:32.753Z,1736357012.753 [DAT](INFO): publishing transmit ping time
2025-01-08T17:23:32.753Z,1736357012.753 [DAT](INFO): publishing direction and range info
2025-01-08T17:23:32.875Z,1736357012.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:32.905Z,1736357012.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 381.200012 m,
      deltaT: 4.032404 s,
      deltaX: -1.899994 m,
      approachRate: -0.471181 m/s,
      rangeRepo size: 4

2025-01-08T17:23:32.907Z,1736357012.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 381.200012 m,
      bearing: 265.322951 deg,
      lat: 36.904184 deg,
      lon: -122.119083 deg,
      deltaT: 4.032404 s,
      deltaX: -1.899994 m,
      approachRate: -0.471181 m/s,
      posRepo size: 4

2025-01-08T17:23:32.915Z,1736357012.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.20 m.
2025-01-08T17:23:32.925Z,1736357012.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 381.200012 m,
      nav range: 351.363647 m,
      bearing: 271.868177 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001148 deg/s,
      cmd heading: 268.904110 deg,
      new cmd heading: 268.902918 deg.

2025-01-08T17:23:32.926Z,1736357012.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693241 target range: 381.200012 and range: 381.20 m.
2025-01-08T17:23:33.283Z,1736357013.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:33.292Z,1736357013.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.20 m.
2025-01-08T17:23:33.294Z,1736357013.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 381.200012 m,
      nav range: 351.045410 m,
      bearing: 271.868812 deg,
      approach rate: -0.811954 m/s,
      LOS rate: 0.001621 deg/s,
      cmd heading: 268.902908 deg,
      new cmd heading: 268.904814 deg.

2025-01-08T17:23:33.311Z,1736357013.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693274 target range: 381.200012 and range: 381.20 m.
2025-01-08T17:23:33.660Z,1736357013.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:33.669Z,1736357013.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.20 m.
2025-01-08T17:23:33.672Z,1736357013.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 381.200012 m,
      nav range: 350.751404 m,
      bearing: 271.869510 deg,
      approach rate: -0.777562 m/s,
      LOS rate: 0.001849 deg/s,
      cmd heading: 268.904821 deg,
      new cmd heading: 268.906919 deg.

2025-01-08T17:23:33.673Z,1736357013.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693311 target range: 381.200012 and range: 381.20 m.
2025-01-08T17:23:34.109Z,1736357014.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:34.118Z,1736357014.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:34.121Z,1736357014.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.20 m.
2025-01-08T17:23:34.124Z,1736357014.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 381.200012 m,
      nav range: 350.406128 m,
      bearing: 271.870422 deg,
      approach rate: -0.764964 m/s,
      LOS rate: 0.002022 deg/s,
      cmd heading: 268.906925 deg,
      new cmd heading: 268.909663 deg.

2025-01-08T17:23:34.125Z,1736357014.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693359 target range: 381.200012 and range: 381.20 m.
2025-01-08T17:23:34.213Z,1736357014.213 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:23:34.213Z,1736357014.213 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:23:34.214Z,1736357014.214 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:23:34.465Z,1736357014.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739425
2025-01-08T17:23:34.503Z,1736357014.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:34.511Z,1736357014.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.20 m.
2025-01-08T17:23:34.515Z,1736357014.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 381.200012 m,
      nav range: 350.112152 m,
      bearing: 271.871200 deg,
      approach rate: -0.753020 m/s,
      LOS rate: 0.001994 deg/s,
      cmd heading: 268.909657 deg,
      new cmd heading: 268.911992 deg.

2025-01-08T17:23:34.516Z,1736357014.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693399 target range: 381.200012 and range: 381.20 m.
2025-01-08T17:23:34.719Z,1736357014.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993421
2025-01-08T17:23:34.873Z,1736357014.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:34.887Z,1736357014.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.20 m.
2025-01-08T17:23:34.889Z,1736357014.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 381.200012 m,
      nav range: 349.818359 m,
      bearing: 271.871988 deg,
      approach rate: -0.782685 m/s,
      LOS rate: 0.002101 deg/s,
      cmd heading: 268.911979 deg,
      new cmd heading: 268.914345 deg.

2025-01-08T17:23:34.890Z,1736357014.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693441 target range: 381.200012 and range: 381.20 m.
2025-01-08T17:23:34.969Z,1736357014.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243589
2025-01-08T17:23:35.220Z,1736357015.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495041
2025-01-08T17:23:35.299Z,1736357015.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:35.331Z,1736357015.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.20 m.
2025-01-08T17:23:35.334Z,1736357015.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 381.200012 m,
      nav range: 349.499512 m,
      bearing: 271.872941 deg,
      approach rate: -0.723948 m/s,
      LOS rate: 0.002165 deg/s,
      cmd heading: 268.914356 deg,
      new cmd heading: 268.917216 deg.

2025-01-08T17:23:35.335Z,1736357015.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693491 target range: 381.200012 and range: 381.20 m.
2025-01-08T17:23:35.473Z,1736357015.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747736
2025-01-08T17:23:35.684Z,1736357015.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:35.701Z,1736357015.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.20 m.
2025-01-08T17:23:35.706Z,1736357015.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 381.200012 m,
      nav range: 349.210602 m,
      bearing: 271.873859 deg,
      approach rate: -0.772282 m/s,
      LOS rate: 0.002456 deg/s,
      cmd heading: 268.917224 deg,
      new cmd heading: 268.919981 deg.

2025-01-08T17:23:35.708Z,1736357015.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693539 target range: 381.200012 and range: 381.20 m.
2025-01-08T17:23:35.733Z,1736357015.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007503
2025-01-08T17:23:35.984Z,1736357015.984 [DAT](INFO): DAT read: Rx Time:17:23:34.7909

2025-01-08T17:23:35.985Z,1736357015.985 [DAT](INFO): Rx dataTimestamp_ set to:1736357015.984435
2025-01-08T17:23:35.985Z,1736357015.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260147
2025-01-08T17:23:36.160Z,1736357016.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:36.168Z,1736357016.168 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:36.170Z,1736357016.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.20 m.
2025-01-08T17:23:36.173Z,1736357016.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 381.200012 m,
      nav range: 348.863953 m,
      bearing: 271.875011 deg,
      approach rate: -0.739458 m/s,
      LOS rate: 0.002460 deg/s,
      cmd heading: 268.919984 deg,
      new cmd heading: 268.923444 deg.

2025-01-08T17:23:36.174Z,1736357016.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693600 target range: 381.200012 and range: 381.20 m.
2025-01-08T17:23:36.237Z,1736357016.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511585
2025-01-08T17:23:36.491Z,1736357016.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765192
2025-01-08T17:23:36.551Z,1736357016.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:36.559Z,1736357016.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.20 m.
2025-01-08T17:23:36.562Z,1736357016.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 381.200012 m,
      nav range: 348.579529 m,
      bearing: 271.876063 deg,
      approach rate: -0.731184 m/s,
      LOS rate: 0.002707 deg/s,
      cmd heading: 268.923454 deg,
      new cmd heading: 268.926613 deg.

2025-01-08T17:23:36.564Z,1736357016.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693655 target range: 381.200012 and range: 381.20 m.
2025-01-08T17:23:36.748Z,1736357016.748 [DAT](INFO): DAT read: 17:23:34.7909 LVL= 27120, 28769, 24418, 32755, AGC= 69, IDX= 382, 0.14,-0.841,-2.588,-0.943,-1.691, PHS= 0.938,-0.850, 0.744, RAW= 144.3,  -9.8, CAL= 151.2, -18.8, ROT= 358.8,  18.8

2025-01-08T17:23:36.750Z,1736357016.750 [DAT](INFO): got valid direction response:
 17:23:34.7909 LVL= 27120, 28769, 24418, 32755, AGC= 69, IDX= 382, 0.14,-0.841,-2.588,-0.943,-1.691, PHS= 0.938,-0.850, 0.744, RAW= 144.3,  -9.8, CAL= 151.2, -18.8, ROT= 358.8,  18.8

2025-01-08T17:23:36.751Z,1736357016.751 [DAT](INFO): DAT read: Bearing 358.8,  18.8 (Local)

2025-01-08T17:23:36.751Z,1736357016.751 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.8,  18.8 (Local)

2025-01-08T17:23:36.753Z,1736357016.753 [DAT](INFO): DAT read: Range 10 to 50 : 377.5 m  (Round-trip  503.4 ms) speed  0.7 m/s

2025-01-08T17:23:36.754Z,1736357016.754 [DAT](INFO): DAT read: user:103>

2025-01-08T17:23:36.754Z,1736357016.754 [DAT](INFO): DAT read: Tx time:17:23:35.8833

2025-01-08T17:23:36.755Z,1736357016.755 [DAT](INFO): Ping request sent.
2025-01-08T17:23:36.755Z,1736357016.755 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:23:36.760Z,1736357016.760 [DAT](INFO): DAT read: TxSync time:17:23:35.8826

2025-01-08T17:23:36.760Z,1736357016.760 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:23:36.761Z,1736357016.761 [DAT](INFO): direction in FSK: [0.946442,-0.019825,-0.322266]
2025-01-08T17:23:36.761Z,1736357016.761 [DAT](INFO): publishing transmit ping time
2025-01-08T17:23:36.761Z,1736357016.761 [DAT](INFO): publishing direction and range info
2025-01-08T17:23:36.776Z,1736357016.776 [DAT](INFO): publishing transmit ping time
2025-01-08T17:23:36.776Z,1736357016.776 [DAT](INFO): publishing direction and range info
2025-01-08T17:23:36.900Z,1736357016.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:36.928Z,1736357016.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 377.500000 m,
      deltaT: 4.039577 s,
      deltaX: -3.700012 m,
      approachRate: -0.915941 m/s,
      rangeRepo size: 4

2025-01-08T17:23:36.931Z,1736357016.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 377.500000 m,
      bearing: 269.833302 deg,
      lat: 36.904072 deg,
      lon: -122.119135 deg,
      deltaT: 4.039577 s,
      deltaX: -3.700012 m,
      approachRate: -0.915941 m/s,
      posRepo size: 4

2025-01-08T17:23:36.936Z,1736357016.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:36.938Z,1736357016.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 352.778168 m,
      bearing: 269.832981 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002707 deg/s,
      cmd heading: 268.926623 deg,
      new cmd heading: 268.929545 deg.

2025-01-08T17:23:36.944Z,1736357016.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693706 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:37.334Z,1736357017.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:37.343Z,1736357017.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:37.346Z,1736357017.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 352.473206 m,
      bearing: 269.832038 deg,
      approach rate: -0.718550 m/s,
      LOS rate: -0.002225 deg/s,
      cmd heading: 268.929546 deg,
      new cmd heading: 268.926713 deg.

2025-01-08T17:23:37.347Z,1736357017.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693656 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:37.707Z,1736357017.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:37.721Z,1736357017.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:37.749Z,1736357017.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 352.214386 m,
      bearing: 269.831249 deg,
      approach rate: -0.685944 m/s,
      LOS rate: -0.002092 deg/s,
      cmd heading: 268.926705 deg,
      new cmd heading: 268.924336 deg.

2025-01-08T17:23:37.750Z,1736357017.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693615 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:38.177Z,1736357018.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:38.184Z,1736357018.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:38.186Z,1736357018.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:38.189Z,1736357018.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 351.898010 m,
      bearing: 269.830279 deg,
      approach rate: -0.679328 m/s,
      LOS rate: -0.002084 deg/s,
      cmd heading: 268.924328 deg,
      new cmd heading: 268.921416 deg.

2025-01-08T17:23:38.190Z,1736357018.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693564 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:38.252Z,1736357018.252 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:23:38.253Z,1736357018.253 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:23:38.253Z,1736357018.253 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:23:38.504Z,1736357018.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749274
2025-01-08T17:23:38.521Z,1736357018.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:38.530Z,1736357018.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:38.533Z,1736357018.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 351.665955 m,
      bearing: 269.829497 deg,
      approach rate: -0.675374 m/s,
      LOS rate: -0.002279 deg/s,
      cmd heading: 268.921405 deg,
      new cmd heading: 268.919055 deg.

2025-01-08T17:23:38.534Z,1736357018.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693523 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:38.756Z,1736357018.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001460
2025-01-08T17:23:38.935Z,1736357018.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:38.944Z,1736357018.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:38.948Z,1736357018.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 351.387207 m,
      bearing: 269.828538 deg,
      approach rate: -0.673107 m/s,
      LOS rate: -0.002318 deg/s,
      cmd heading: 268.919055 deg,
      new cmd heading: 268.916176 deg.

2025-01-08T17:23:38.949Z,1736357018.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693473 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:39.008Z,1736357019.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253584
2025-01-08T17:23:39.260Z,1736357019.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505432
2025-01-08T17:23:39.350Z,1736357019.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:39.378Z,1736357019.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:39.385Z,1736357019.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 351.122894 m,
      bearing: 269.827453 deg,
      approach rate: -0.609239 m/s,
      LOS rate: -0.002503 deg/s,
      cmd heading: 268.916186 deg,
      new cmd heading: 268.912929 deg.

2025-01-08T17:23:39.386Z,1736357019.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693416 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:39.512Z,1736357019.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757515
2025-01-08T17:23:39.736Z,1736357019.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:39.744Z,1736357019.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:39.748Z,1736357019.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 350.878021 m,
      bearing: 269.826430 deg,
      approach rate: -0.668070 m/s,
      LOS rate: -0.002793 deg/s,
      cmd heading: 268.912935 deg,
      new cmd heading: 268.909864 deg.

2025-01-08T17:23:39.749Z,1736357019.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693363 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:39.764Z,1736357019.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009713
2025-01-08T17:23:40.016Z,1736357020.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261512
2025-01-08T17:23:40.192Z,1736357020.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:40.200Z,1736357020.200 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:40.202Z,1736357020.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:40.221Z,1736357020.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 350.592377 m,
      bearing: 269.824934 deg,
      approach rate: -0.624499 m/s,
      LOS rate: -0.003273 deg/s,
      cmd heading: 268.909875 deg,
      new cmd heading: 268.905384 deg.

2025-01-08T17:23:40.224Z,1736357020.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693285 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:40.270Z,1736357020.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514716
2025-01-08T17:23:40.520Z,1736357020.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765527
2025-01-08T17:23:40.538Z,1736357020.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:40.556Z,1736357020.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:40.559Z,1736357020.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 350.375732 m,
      bearing: 269.823769 deg,
      approach rate: -0.611304 m/s,
      LOS rate: -0.003288 deg/s,
      cmd heading: 268.905395 deg,
      new cmd heading: 268.901899 deg.

2025-01-08T17:23:40.560Z,1736357020.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693223 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:40.775Z,1736357020.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020104
2025-01-08T17:23:40.933Z,1736357020.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:40.941Z,1736357020.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:40.944Z,1736357020.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 350.128876 m,
      bearing: 269.822439 deg,
      approach rate: -0.640943 m/s,
      LOS rate: -0.003455 deg/s,
      cmd heading: 268.901898 deg,
      new cmd heading: 268.897905 deg.

2025-01-08T17:23:40.945Z,1736357020.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693154 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:41.029Z,1736357021.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.274008
2025-01-08T17:23:41.281Z,1736357021.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.526053
2025-01-08T17:23:41.363Z,1736357021.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:41.372Z,1736357021.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:41.375Z,1736357021.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 349.864929 m,
      bearing: 269.820856 deg,
      approach rate: -0.612603 m/s,
      LOS rate: -0.003677 deg/s,
      cmd heading: 268.897909 deg,
      new cmd heading: 268.893156 deg.

2025-01-08T17:23:41.376Z,1736357021.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693071 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:41.532Z,1736357021.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.777574
2025-01-08T17:23:41.749Z,1736357021.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:41.757Z,1736357021.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:41.760Z,1736357021.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 349.627533 m,
      bearing: 269.819405 deg,
      approach rate: -0.616460 m/s,
      LOS rate: -0.003771 deg/s,
      cmd heading: 268.893155 deg,
      new cmd heading: 268.888798 deg.

2025-01-08T17:23:41.761Z,1736357021.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692995 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:41.784Z,1736357021.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.029564
2025-01-08T17:23:42.036Z,1736357022.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281644
2025-01-08T17:23:42.218Z,1736357022.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:42.225Z,1736357022.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:42.227Z,1736357022.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:42.230Z,1736357022.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 349.332458 m,
      bearing: 269.817660 deg,
      approach rate: -0.628361 m/s,
      LOS rate: -0.003719 deg/s,
      cmd heading: 268.888811 deg,
      new cmd heading: 268.883571 deg.

2025-01-08T17:23:42.252Z,1736357022.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692904 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:42.288Z,1736357022.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533586
2025-01-08T17:23:42.542Z,1736357022.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.787355
2025-01-08T17:23:42.564Z,1736357022.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:42.575Z,1736357022.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:42.581Z,1736357022.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 349.114166 m,
      bearing: 269.816354 deg,
      approach rate: -0.629358 m/s,
      LOS rate: -0.003767 deg/s,
      cmd heading: 268.883565 deg,
      new cmd heading: 268.879645 deg.

2025-01-08T17:23:42.584Z,1736357022.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692835 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:42.792Z,1736357022.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.037432
2025-01-08T17:23:42.958Z,1736357022.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:42.975Z,1736357022.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:42.986Z,1736357022.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 348.866638 m,
      bearing: 269.814807 deg,
      approach rate: -0.617322 m/s,
      LOS rate: -0.003861 deg/s,
      cmd heading: 268.879658 deg,
      new cmd heading: 268.875014 deg.

2025-01-08T17:23:42.987Z,1736357022.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692754 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:43.045Z,1736357023.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.290622
2025-01-08T17:23:43.297Z,1736357023.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.542155
2025-01-08T17:23:43.389Z,1736357023.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:43.398Z,1736357023.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:43.401Z,1736357023.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 348.596344 m,
      bearing: 269.813382 deg,
      approach rate: -0.637730 m/s,
      LOS rate: -0.003366 deg/s,
      cmd heading: 268.875014 deg,
      new cmd heading: 268.870735 deg.

2025-01-08T17:23:43.402Z,1736357023.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692679 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:43.548Z,1736357023.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793448
2025-01-08T17:23:43.768Z,1736357023.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:43.776Z,1736357023.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:43.779Z,1736357023.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 348.358643 m,
      bearing: 269.812094 deg,
      approach rate: -0.629023 m/s,
      LOS rate: -0.003411 deg/s,
      cmd heading: 268.870725 deg,
      new cmd heading: 268.866858 deg.

2025-01-08T17:23:43.781Z,1736357023.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692612 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:43.801Z,1736357023.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.045896
2025-01-08T17:23:44.052Z,1736357024.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.297601
2025-01-08T17:23:44.226Z,1736357024.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:44.234Z,1736357024.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:44.236Z,1736357024.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:44.239Z,1736357024.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 348.070801 m,
      bearing: 269.810531 deg,
      approach rate: -0.626014 m/s,
      LOS rate: -0.003401 deg/s,
      cmd heading: 268.866845 deg,
      new cmd heading: 268.862153 deg.

2025-01-08T17:23:44.248Z,1736357024.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692530 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:44.305Z,1736357024.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.550275
2025-01-08T17:23:44.556Z,1736357024.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.801574
2025-01-08T17:23:44.642Z,1736357024.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:44.652Z,1736357024.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:44.654Z,1736357024.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 347.805664 m,
      bearing: 269.808662 deg,
      approach rate: -0.637832 m/s,
      LOS rate: -0.004501 deg/s,
      cmd heading: 268.862146 deg,
      new cmd heading: 268.856533 deg.

2025-01-08T17:23:44.656Z,1736357024.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692432 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:44.808Z,1736357024.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.053494
2025-01-08T17:23:44.985Z,1736357024.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:44.993Z,1736357024.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:45.001Z,1736357025.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 347.587646 m,
      bearing: 269.807103 deg,
      approach rate: -0.638707 m/s,
      LOS rate: -0.004569 deg/s,
      cmd heading: 268.856545 deg,
      new cmd heading: 268.851866 deg.

2025-01-08T17:23:45.002Z,1736357025.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692350 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:45.061Z,1736357025.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.306448
2025-01-08T17:23:45.312Z,1736357025.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.557387
2025-01-08T17:23:45.412Z,1736357025.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:45.422Z,1736357025.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:45.425Z,1736357025.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 347.300018 m,
      bearing: 269.805577 deg,
      approach rate: -0.671179 m/s,
      LOS rate: -0.003565 deg/s,
      cmd heading: 268.851873 deg,
      new cmd heading: 268.847290 deg.

2025-01-08T17:23:45.426Z,1736357025.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692270 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:45.565Z,1736357025.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.810356
2025-01-08T17:23:45.789Z,1736357025.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:45.799Z,1736357025.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:45.802Z,1736357025.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 347.048279 m,
      bearing: 269.804186 deg,
      approach rate: -0.666709 m/s,
      LOS rate: -0.003686 deg/s,
      cmd heading: 268.847283 deg,
      new cmd heading: 268.843107 deg.

2025-01-08T17:23:45.803Z,1736357025.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692197 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:45.816Z,1736357025.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.061571
2025-01-08T17:23:46.068Z,1736357026.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.313399
2025-01-08T17:23:46.226Z,1736357026.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:46.264Z,1736357026.264 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:46.266Z,1736357026.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:46.273Z,1736357026.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 346.755127 m,
      bearing: 269.802548 deg,
      approach rate: -0.628122 m/s,
      LOS rate: -0.003511 deg/s,
      cmd heading: 268.843103 deg,
      new cmd heading: 268.838187 deg.

2025-01-08T17:23:46.274Z,1736357026.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692111 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:46.321Z,1736357026.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.565764
2025-01-08T17:23:46.572Z,1736357026.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.817517
2025-01-08T17:23:46.630Z,1736357026.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:46.645Z,1736357026.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:46.665Z,1736357026.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 346.478088 m,
      bearing: 269.800358 deg,
      approach rate: -0.731888 m/s,
      LOS rate: -0.005789 deg/s,
      cmd heading: 268.838186 deg,
      new cmd heading: 268.831611 deg.

2025-01-08T17:23:46.666Z,1736357026.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691997 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:46.824Z,1736357026.824 [DAT](INFO): Reached modem response timeout
2025-01-08T17:23:46.824Z,1736357026.824 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:23:46.824Z,1736357026.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:23:46.996Z,1736357026.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:47.022Z,1736357027.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:47.029Z,1736357027.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 346.229492 m,
      bearing: 269.798354 deg,
      approach rate: -0.658338 m/s,
      LOS rate: -0.005312 deg/s,
      cmd heading: 268.831601 deg,
      new cmd heading: 268.825584 deg.

2025-01-08T17:23:47.031Z,1736357027.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691892 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:47.078Z,1736357027.078 [DAT](INFO): Reached modem response timeout
2025-01-08T17:23:47.078Z,1736357027.078 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:23:47.078Z,1736357027.078 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:23:47.330Z,1736357027.330 [DAT](INFO): Reached modem response timeout
2025-01-08T17:23:47.330Z,1736357027.330 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:23:47.331Z,1736357027.331 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:23:47.449Z,1736357027.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:47.458Z,1736357027.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:47.461Z,1736357027.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 345.912842 m,
      bearing: 269.795930 deg,
      approach rate: -0.726846 m/s,
      LOS rate: -0.005571 deg/s,
      cmd heading: 268.825591 deg,
      new cmd heading: 268.818310 deg.

2025-01-08T17:23:47.462Z,1736357027.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691765 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:47.580Z,1736357027.580 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:23:47.581Z,1736357027.581 [DAT](INFO): response not received
2025-01-08T17:23:47.581Z,1736357027.581 [DAT](INFO): DAT read: user:104>

2025-01-08T17:23:47.582Z,1736357027.582 [DAT](INFO): DAT read: Tx time:17:23:46.8334

2025-01-08T17:23:47.582Z,1736357027.582 [DAT](INFO): Ping request sent.
2025-01-08T17:23:47.582Z,1736357027.582 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:23:47.582Z,1736357027.582 [DAT](INFO): publishing transmit ping time
2025-01-08T17:23:47.583Z,1736357027.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-01-08T17:23:47.819Z,1736357027.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:47.828Z,1736357027.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:47.833Z,1736357027.833 [DAT](INFO): DAT read: TxSync time:17:23:46.8327

2025-01-08T17:23:47.834Z,1736357027.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251242
2025-01-08T17:23:47.834Z,1736357027.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 345.654663 m,
      bearing: 269.793949 deg,
      approach rate: -0.698375 m/s,
      LOS rate: -0.005361 deg/s,
      cmd heading: 268.818323 deg,
      new cmd heading: 268.812378 deg.

2025-01-08T17:23:47.835Z,1736357027.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691661 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:48.084Z,1736357028.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501922
2025-01-08T17:23:48.207Z,1736357028.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:48.269Z,1736357028.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:48.281Z,1736357028.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 345.383820 m,
      bearing: 269.791910 deg,
      approach rate: -0.622546 m/s,
      LOS rate: -0.004691 deg/s,
      cmd heading: 268.812367 deg,
      new cmd heading: 268.806245 deg.

2025-01-08T17:23:48.282Z,1736357028.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691554 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:48.337Z,1736357028.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754453
2025-01-08T17:23:48.588Z,1736357028.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006027
2025-01-08T17:23:48.741Z,1736357028.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:48.749Z,1736357028.749 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:48.751Z,1736357028.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:48.754Z,1736357028.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 345.006622 m,
      bearing: 269.788957 deg,
      approach rate: -0.771758 m/s,
      LOS rate: -0.006048 deg/s,
      cmd heading: 268.806248 deg,
      new cmd heading: 268.797379 deg.

2025-01-08T17:23:48.755Z,1736357028.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691399 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:48.842Z,1736357028.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259465
2025-01-08T17:23:49.092Z,1736357029.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510094
2025-01-08T17:23:49.096Z,1736357029.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:49.105Z,1736357029.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:49.108Z,1736357029.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 344.756317 m,
      bearing: 269.787084 deg,
      approach rate: -0.707379 m/s,
      LOS rate: -0.005298 deg/s,
      cmd heading: 268.797368 deg,
      new cmd heading: 268.791744 deg.

2025-01-08T17:23:49.109Z,1736357029.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691301 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:49.344Z,1736357029.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762085
2025-01-08T17:23:49.523Z,1736357029.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:49.531Z,1736357029.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:49.534Z,1736357029.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 344.447357 m,
      bearing: 269.783941 deg,
      approach rate: -0.725119 m/s,
      LOS rate: -0.007383 deg/s,
      cmd heading: 268.791740 deg,
      new cmd heading: 268.782303 deg.

2025-01-08T17:23:49.535Z,1736357029.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691136 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:49.598Z,1736357029.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015762
2025-01-08T17:23:49.849Z,1736357029.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266314
2025-01-08T17:23:49.906Z,1736357029.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:49.916Z,1736357029.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:49.919Z,1736357029.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 344.169891 m,
      bearing: 269.781108 deg,
      approach rate: -0.720232 m/s,
      LOS rate: -0.007360 deg/s,
      cmd heading: 268.782315 deg,
      new cmd heading: 268.773809 deg.

2025-01-08T17:23:49.920Z,1736357029.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690988 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:50.100Z,1736357030.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518042
2025-01-08T17:23:50.353Z,1736357030.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770254
2025-01-08T17:23:50.354Z,1736357030.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:50.364Z,1736357030.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:50.366Z,1736357030.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 343.842529 m,
      bearing: 269.777463 deg,
      approach rate: -0.732696 m/s,
      LOS rate: -0.008166 deg/s,
      cmd heading: 268.773818 deg,
      new cmd heading: 268.762872 deg.

2025-01-08T17:23:50.368Z,1736357030.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690797 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:50.607Z,1736357030.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023979
2025-01-08T17:23:50.736Z,1736357030.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:50.745Z,1736357030.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:50.749Z,1736357030.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 343.563049 m,
      bearing: 269.774393 deg,
      approach rate: -0.732651 m/s,
      LOS rate: -0.008053 deg/s,
      cmd heading: 268.762862 deg,
      new cmd heading: 268.753646 deg.

2025-01-08T17:23:50.750Z,1736357030.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690636 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:50.856Z,1736357030.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274081
2025-01-08T17:23:51.108Z,1736357031.108 [DAT](INFO): DAT read: Rx Time:17:23:49.7292

2025-01-08T17:23:51.109Z,1736357031.109 [DAT](INFO): Rx dataTimestamp_ set to:1736357031.108428
2025-01-08T17:23:51.109Z,1736357031.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526992
2025-01-08T17:23:51.120Z,1736357031.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:51.127Z,1736357031.127 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:51.130Z,1736357031.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:51.133Z,1736357031.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 343.283234 m,
      bearing: 269.771379 deg,
      approach rate: -0.727792 m/s,
      LOS rate: -0.007846 deg/s,
      cmd heading: 268.753655 deg,
      new cmd heading: 268.744605 deg.

2025-01-08T17:23:51.134Z,1736357031.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690478 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:51.362Z,1736357031.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778905
2025-01-08T17:23:51.574Z,1736357031.574 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:51.582Z,1736357031.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 377.50 m.
2025-01-08T17:23:51.585Z,1736357031.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 377.500000 m,
      nav range: 342.948059 m,
      bearing: 269.767515 deg,
      approach rate: -0.739895 m/s,
      LOS rate: -0.008539 deg/s,
      cmd heading: 268.744612 deg,
      new cmd heading: 268.733007 deg.

2025-01-08T17:23:51.586Z,1736357031.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690276 target range: 377.500000 and range: 377.50 m.
2025-01-08T17:23:51.629Z,1736357031.629 [DAT](INFO): DAT read: 17:23:49.7292 LVL= 24928, 30657, 24050, 32755, AGC= 67, IDX= 294,-0.04, 1.906, 0.528, 1.984, 1.242, PHS= 0.753,-0.666, 0.739, RAW= 149.5, -11.7, CAL= 156.5, -19.5, ROT= 353.5,  19.5

2025-01-08T17:23:51.632Z,1736357031.632 [DAT](INFO): got valid direction response:
 17:23:49.7292 LVL= 24928, 30657, 24050, 32755, AGC= 67, IDX= 294,-0.04, 1.906, 0.528, 1.984, 1.242, PHS= 0.753,-0.666, 0.739, RAW= 149.5, -11.7, CAL= 156.5, -19.5, ROT= 353.5,  19.5

2025-01-08T17:23:51.634Z,1736357031.634 [DAT](INFO): DAT read: Bearing 353.5,  19.5 (Local)

2025-01-08T17:23:51.635Z,1736357031.635 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.5,  19.5 (Local)

2025-01-08T17:23:51.654Z,1736357031.654 [DAT](INFO): DAT read: Range 10 to 50 : 368.7 m  (Round-trip  491.6 ms) speed  0.7 m/s

2025-01-08T17:23:51.655Z,1736357031.655 [DAT](INFO): DAT read: user:105>

2025-01-08T17:23:51.677Z,1736357031.677 [DAT](INFO): DAT read: Tx time:17:23:50.8334

2025-01-08T17:23:51.677Z,1736357031.677 [DAT](INFO): Ping request sent.
2025-01-08T17:23:51.677Z,1736357031.677 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:23:51.678Z,1736357031.678 [DAT](INFO): DAT read: TxSync time:17:23:50.8327

2025-01-08T17:23:51.695Z,1736357031.695 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:23:51.698Z,1736357031.698 [DAT](INFO): direction in FSK: [0.936582,-0.106710,-0.333807]
2025-01-08T17:23:51.698Z,1736357031.698 [DAT](INFO): publishing transmit ping time
2025-01-08T17:23:51.698Z,1736357031.698 [DAT](INFO): publishing direction and range info
2025-01-08T17:23:51.737Z,1736357031.737 [DAT](INFO): publishing transmit ping time
2025-01-08T17:23:51.737Z,1736357031.737 [DAT](INFO): publishing direction and range info
2025-01-08T17:23:51.936Z,1736357031.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:51.971Z,1736357031.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 368.700012 m,
      deltaT: 14.872042 s,
      deltaX: -8.799988 m,
      approachRate: -0.591713 m/s,
      rangeRepo size: 4

2025-01-08T17:23:51.973Z,1736357031.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 368.700012 m,
      bearing: 265.024346 deg,
      lat: 36.904062 deg,
      lon: -122.119154 deg,
      deltaT: 14.872042 s,
      deltaX: -8.799988 m,
      approachRate: -0.591713 m/s,
      posRepo size: 4

2025-01-08T17:23:51.974Z,1736357031.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.70 m.
2025-01-08T17:23:51.981Z,1736357031.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.700012 m,
      nav range: 344.376648 m,
      bearing: 269.584965 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008539 deg/s,
      cmd heading: 268.733001 deg,
      new cmd heading: 268.723068 deg.

2025-01-08T17:23:51.982Z,1736357031.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690102 target range: 368.700012 and range: 368.70 m.
2025-01-08T17:23:52.375Z,1736357032.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:52.384Z,1736357032.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.70 m.
2025-01-08T17:23:52.403Z,1736357032.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.700012 m,
      nav range: 344.047455 m,
      bearing: 269.581067 deg,
      approach rate: -0.794207 m/s,
      LOS rate: -0.009414 deg/s,
      cmd heading: 268.723056 deg,
      new cmd heading: 268.711350 deg.

2025-01-08T17:23:52.404Z,1736357032.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689898 target range: 368.700012 and range: 368.70 m.
2025-01-08T17:23:52.735Z,1736357032.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:52.776Z,1736357032.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.70 m.
2025-01-08T17:23:52.778Z,1736357032.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.700012 m,
      nav range: 343.782562 m,
      bearing: 269.578065 deg,
      approach rate: -0.686941 m/s,
      LOS rate: -0.007792 deg/s,
      cmd heading: 268.711363 deg,
      new cmd heading: 268.702348 deg.

2025-01-08T17:23:52.783Z,1736357032.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689741 target range: 368.700012 and range: 368.70 m.
2025-01-08T17:23:53.134Z,1736357033.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:53.140Z,1736357033.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:53.142Z,1736357033.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.70 m.
2025-01-08T17:23:53.148Z,1736357033.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.700012 m,
      nav range: 343.489685 m,
      bearing: 269.574928 deg,
      approach rate: -0.786469 m/s,
      LOS rate: -0.008430 deg/s,
      cmd heading: 268.702347 deg,
      new cmd heading: 268.692929 deg.

2025-01-08T17:23:53.149Z,1736357033.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689576 target range: 368.700012 and range: 368.70 m.
2025-01-08T17:23:53.376Z,1736357033.376 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:23:53.376Z,1736357033.376 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:23:53.376Z,1736357033.376 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:23:53.562Z,1736357033.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:53.571Z,1736357033.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.70 m.
2025-01-08T17:23:53.574Z,1736357033.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.700012 m,
      nav range: 343.180206 m,
      bearing: 269.572512 deg,
      approach rate: -0.721572 m/s,
      LOS rate: -0.005637 deg/s,
      cmd heading: 268.692921 deg,
      new cmd heading: 268.685668 deg.

2025-01-08T17:23:53.576Z,1736357033.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689450 target range: 368.700012 and range: 368.70 m.
2025-01-08T17:23:53.629Z,1736357033.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.951654
2025-01-08T17:23:53.883Z,1736357033.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.204706
2025-01-08T17:23:53.956Z,1736357033.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:53.973Z,1736357033.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.70 m.
2025-01-08T17:23:53.981Z,1736357033.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.700012 m,
      nav range: 342.895569 m,
      bearing: 269.570333 deg,
      approach rate: -0.707921 m/s,
      LOS rate: -0.005425 deg/s,
      cmd heading: 268.685681 deg,
      new cmd heading: 268.679138 deg.

2025-01-08T17:23:53.988Z,1736357033.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689335 target range: 368.700012 and range: 368.70 m.
2025-01-08T17:23:54.132Z,1736357034.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.454706
2025-01-08T17:23:54.384Z,1736357034.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.706893
2025-01-08T17:23:54.402Z,1736357034.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:54.410Z,1736357034.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.70 m.
2025-01-08T17:23:54.414Z,1736357034.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.700012 m,
      nav range: 342.585663 m,
      bearing: 269.567977 deg,
      approach rate: -0.709019 m/s,
      LOS rate: -0.005394 deg/s,
      cmd heading: 268.679124 deg,
      new cmd heading: 268.672051 deg.

2025-01-08T17:23:54.432Z,1736357034.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689212 target range: 368.700012 and range: 368.70 m.
2025-01-08T17:23:54.637Z,1736357034.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959559
2025-01-08T17:23:54.752Z,1736357034.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:54.761Z,1736357034.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.70 m.
2025-01-08T17:23:54.764Z,1736357034.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.700012 m,
      nav range: 342.342499 m,
      bearing: 269.566155 deg,
      approach rate: -0.693672 m/s,
      LOS rate: -0.005202 deg/s,
      cmd heading: 268.672048 deg,
      new cmd heading: 268.666578 deg.

2025-01-08T17:23:54.765Z,1736357034.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689116 target range: 368.700012 and range: 368.70 m.
2025-01-08T17:23:54.888Z,1736357034.888 [DAT](INFO): DAT read: Rx Time:17:23:53.7268

2025-01-08T17:23:54.889Z,1736357034.889 [DAT](INFO): Rx dataTimestamp_ set to:1736357034.888602
2025-01-08T17:23:54.889Z,1736357034.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.211950
2025-01-08T17:23:55.140Z,1736357035.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.462647
2025-01-08T17:23:55.184Z,1736357035.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:55.191Z,1736357035.191 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:55.193Z,1736357035.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.70 m.
2025-01-08T17:23:55.197Z,1736357035.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.700012 m,
      nav range: 342.051453 m,
      bearing: 269.563971 deg,
      approach rate: -0.673573 m/s,
      LOS rate: -0.005060 deg/s,
      cmd heading: 268.666584 deg,
      new cmd heading: 268.660025 deg.

2025-01-08T17:23:55.198Z,1736357035.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689002 target range: 368.700012 and range: 368.70 m.
2025-01-08T17:23:55.398Z,1736357035.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.717524
2025-01-08T17:23:55.584Z,1736357035.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:55.593Z,1736357035.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 368.70 m.
2025-01-08T17:23:55.597Z,1736357035.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 368.700012 m,
      nav range: 341.774292 m,
      bearing: 269.562323 deg,
      approach rate: -0.693051 m/s,
      LOS rate: -0.004125 deg/s,
      cmd heading: 268.660027 deg,
      new cmd heading: 268.655078 deg.

2025-01-08T17:23:55.598Z,1736357035.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688916 target range: 368.700012 and range: 368.70 m.
2025-01-08T17:23:55.654Z,1736357035.654 [DAT](INFO): DAT read: 17:23:53.7268 LVL= 19152, 28625, 19042, 30307, AGC= 70, IDX= 405, 0.44,-2.163, 2.667,-2.155,-2.815, PHS= 0.740,-0.754, 0.657, RAW= 147.2,  -8.9, CAL= 153.5, -17.4, ROT= 356.5,  17.4

2025-01-08T17:23:55.658Z,1736357035.658 [DAT](INFO): got valid direction response:
 17:23:53.7268 LVL= 19152, 28625, 19042, 30307, AGC= 70, IDX= 405, 0.44,-2.163, 2.667,-2.155,-2.815, PHS= 0.740,-0.754, 0.657, RAW= 147.2,  -8.9, CAL= 153.5, -17.4, ROT= 356.5,  17.4

2025-01-08T17:23:55.670Z,1736357035.670 [DAT](INFO): DAT read: Bearing 356.5,  17.4 (Local)

2025-01-08T17:23:55.670Z,1736357035.670 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.5,  17.4 (Local)

2025-01-08T17:23:55.674Z,1736357035.674 [DAT](INFO): DAT read: Range 10 to 50 : 366.8 m  (Round-trip  489.1 ms) speed  0.8 m/s

2025-01-08T17:23:55.675Z,1736357035.675 [DAT](INFO): DAT read: user:106>

2025-01-08T17:23:55.681Z,1736357035.681 [DAT](INFO): DAT read: Tx time:17:23:54.8335

2025-01-08T17:23:55.682Z,1736357035.682 [DAT](INFO): Ping request sent.
2025-01-08T17:23:55.682Z,1736357035.682 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:23:55.716Z,1736357035.716 [DAT](INFO): DAT read: TxSync time:17:23:54.8328

2025-01-08T17:23:55.717Z,1736357035.717 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:23:55.718Z,1736357035.718 [DAT](INFO): direction in FSK: [0.952460,-0.058255,-0.299041]
2025-01-08T17:23:55.719Z,1736357035.719 [DAT](INFO): publishing transmit ping time
2025-01-08T17:23:55.727Z,1736357035.727 [DAT](INFO): publishing direction and range info
2025-01-08T17:23:55.730Z,1736357035.730 [DAT](INFO): publishing transmit ping time
2025-01-08T17:23:55.731Z,1736357035.731 [DAT](INFO): publishing direction and range info
2025-01-08T17:23:55.737Z,1736357035.737 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:23:55.973Z,1736357035.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:56.005Z,1736357036.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 366.799988 m,
      deltaT: 4.033690 s,
      deltaX: -1.900024 m,
      approachRate: -0.471039 m/s,
      rangeRepo size: 4

2025-01-08T17:23:56.007Z,1736357036.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 366.799988 m,
      bearing: 266.878828 deg,
      lat: 36.903912 deg,
      lon: -122.119171 deg,
      deltaT: 4.033690 s,
      deltaX: -1.900024 m,
      approachRate: -0.471039 m/s,
      posRepo size: 4

2025-01-08T17:23:56.016Z,1736357036.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.80 m.
2025-01-08T17:23:56.018Z,1736357036.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.799988 m,
      nav range: 343.563232 m,
      bearing: 266.780982 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004125 deg/s,
      cmd heading: 268.655082 deg,
      new cmd heading: 268.649997 deg.

2025-01-08T17:23:56.027Z,1736357036.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688827 target range: 366.799988 and range: 366.80 m.
2025-01-08T17:23:56.434Z,1736357036.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:56.448Z,1736357036.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.80 m.
2025-01-08T17:23:56.451Z,1736357036.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.799988 m,
      nav range: 343.263489 m,
      bearing: 266.777743 deg,
      approach rate: -0.678920 m/s,
      LOS rate: -0.007344 deg/s,
      cmd heading: 268.650000 deg,
      new cmd heading: 268.640273 deg.

2025-01-08T17:23:56.452Z,1736357036.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688657 target range: 366.799988 and range: 366.80 m.
2025-01-08T17:23:56.739Z,1736357036.739 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:23:56.774Z,1736357036.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:56.786Z,1736357036.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.80 m.
2025-01-08T17:23:56.789Z,1736357036.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.799988 m,
      nav range: 343.042908 m,
      bearing: 266.775353 deg,
      approach rate: -0.648242 m/s,
      LOS rate: -0.007028 deg/s,
      cmd heading: 268.640274 deg,
      new cmd heading: 268.633100 deg.

2025-01-08T17:23:56.790Z,1736357036.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688532 target range: 366.799988 and range: 366.80 m.
2025-01-08T17:23:57.174Z,1736357037.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:57.184Z,1736357037.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.80 m.
2025-01-08T17:23:57.186Z,1736357037.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.799988 m,
      nav range: 342.782227 m,
      bearing: 266.772480 deg,
      approach rate: -0.655132 m/s,
      LOS rate: -0.007226 deg/s,
      cmd heading: 268.633089 deg,
      new cmd heading: 268.624463 deg.

2025-01-08T17:23:57.188Z,1736357037.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688381 target range: 366.799988 and range: 366.80 m.
2025-01-08T17:23:57.597Z,1736357037.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:57.604Z,1736357037.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:57.606Z,1736357037.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.80 m.
2025-01-08T17:23:57.609Z,1736357037.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.799988 m,
      nav range: 342.519196 m,
      bearing: 266.769940 deg,
      approach rate: -0.622848 m/s,
      LOS rate: -0.006019 deg/s,
      cmd heading: 268.624455 deg,
      new cmd heading: 268.616829 deg.

2025-01-08T17:23:57.610Z,1736357037.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688248 target range: 366.799988 and range: 366.80 m.
2025-01-08T17:23:57.660Z,1736357037.660 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:23:57.660Z,1736357037.660 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:23:57.660Z,1736357037.660 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:23:57.913Z,1736357037.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230384
2025-01-08T17:23:57.985Z,1736357037.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:58.010Z,1736357038.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.80 m.
2025-01-08T17:23:58.013Z,1736357038.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.799988 m,
      nav range: 342.277252 m,
      bearing: 266.767505 deg,
      approach rate: -0.598999 m/s,
      LOS rate: -0.006033 deg/s,
      cmd heading: 268.616833 deg,
      new cmd heading: 268.609522 deg.

2025-01-08T17:23:58.014Z,1736357038.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688120 target range: 366.799988 and range: 366.80 m.
2025-01-08T17:23:58.164Z,1736357038.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482084
2025-01-08T17:23:58.422Z,1736357038.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738636
2025-01-08T17:23:58.489Z,1736357038.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:58.498Z,1736357038.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.80 m.
2025-01-08T17:23:58.501Z,1736357038.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.799988 m,
      nav range: 341.978729 m,
      bearing: 266.764815 deg,
      approach rate: -0.610997 m/s,
      LOS rate: -0.005510 deg/s,
      cmd heading: 268.609511 deg,
      new cmd heading: 268.601434 deg.

2025-01-08T17:23:58.502Z,1736357038.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687979 target range: 366.799988 and range: 366.80 m.
2025-01-08T17:23:58.668Z,1736357038.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985948
2025-01-08T17:23:58.823Z,1736357038.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:58.831Z,1736357038.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.80 m.
2025-01-08T17:23:58.834Z,1736357038.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.799988 m,
      nav range: 341.780762 m,
      bearing: 266.763029 deg,
      approach rate: -0.594842 m/s,
      LOS rate: -0.005370 deg/s,
      cmd heading: 268.601424 deg,
      new cmd heading: 268.596062 deg.

2025-01-08T17:23:58.836Z,1736357038.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687886 target range: 366.799988 and range: 366.80 m.
2025-01-08T17:23:58.920Z,1736357038.920 [DAT](INFO): DAT read: Rx Time:17:23:57.7069

2025-01-08T17:23:58.921Z,1736357038.921 [DAT](INFO): Rx dataTimestamp_ set to:1736357038.920599
2025-01-08T17:23:58.921Z,1736357038.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239208
2025-01-08T17:23:59.173Z,1736357039.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490409
2025-01-08T17:23:59.254Z,1736357039.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:59.263Z,1736357039.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.80 m.
2025-01-08T17:23:59.266Z,1736357039.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.799988 m,
      nav range: 341.525543 m,
      bearing: 266.760557 deg,
      approach rate: -0.592049 m/s,
      LOS rate: -0.005739 deg/s,
      cmd heading: 268.596069 deg,
      new cmd heading: 268.588648 deg.

2025-01-08T17:23:59.267Z,1736357039.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687756 target range: 366.799988 and range: 366.80 m.
2025-01-08T17:23:59.433Z,1736357039.433 [DAT](INFO): DAT read: Range 10 to 50 : 351.9 m  (Round-trip  469.2 ms) speed  0.7 m/s

2025-01-08T17:23:59.445Z,1736357039.445 [DAT](INFO): DAT read: user:107>

2025-01-08T17:23:59.453Z,1736357039.453 [DAT](INFO): DAT read: Tx time:17:23:58.7835

2025-01-08T17:23:59.454Z,1736357039.454 [DAT](INFO): Ping request sent.
2025-01-08T17:23:59.455Z,1736357039.455 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:23:59.460Z,1736357039.460 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:23:59.460Z,1736357039.460 [DAT](INFO): publishing transmit ping time
2025-01-08T17:23:59.461Z,1736357039.461 [DAT](INFO): publishing transmit ping time
2025-01-08T17:23:59.658Z,1736357039.658 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3276,V
2025-01-08T17:23:59.666Z,1736357039.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:23:59.667Z,1736357039.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:23:59.674Z,1736357039.674 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:23:59.676Z,1736357039.676 [DAT](INFO): DAT read: TxSync time:17:23:58.7828

2025-01-08T17:23:59.677Z,1736357039.677 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:23:59.677Z,1736357039.677 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:23:59.677Z,1736357039.677 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:23:59.706Z,1736357039.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 351.899994 m,
      deltaT: 3.780242 s,
      deltaX: -14.899994 m,
      approachRate: -3.941545 m/s,
      rangeRepo size: 4

2025-01-08T17:23:59.712Z,1736357039.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.80 m.
2025-01-08T17:23:59.721Z,1736357039.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.799988 m,
      nav range: 341.281250 m,
      bearing: 266.758140 deg,
      approach rate: -0.551813 m/s,
      LOS rate: -0.005464 deg/s,
      cmd heading: 268.588638 deg,
      new cmd heading: 268.581381 deg.

2025-01-08T17:23:59.722Z,1736357039.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687629 target range: 366.799988 and range: 351.90 m.
2025-01-08T17:23:59.930Z,1736357039.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.475156
2025-01-08T17:24:00.161Z,1736357040.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-08T17:24:00.162Z,1736357040.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:00.171Z,1736357040.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.80 m.
2025-01-08T17:24:00.174Z,1736357040.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.799988 m,
      nav range: 340.987946 m,
      bearing: 266.755308 deg,
      approach rate: -0.629216 m/s,
      LOS rate: -0.006081 deg/s,
      cmd heading: 268.581370 deg,
      new cmd heading: 268.572866 deg.

2025-01-08T17:24:00.175Z,1736357040.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687481 target range: 366.799988 and range: 351.90 m.
2025-01-08T17:24:00.181Z,1736357040.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.726489
2025-01-08T17:24:00.436Z,1736357040.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.980704
2025-01-08T17:24:00.613Z,1736357040.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:00.661Z,1736357040.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.80 m.
2025-01-08T17:24:00.671Z,1736357040.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.799988 m,
      nav range: 340.721954 m,
      bearing: 266.753307 deg,
      approach rate: -0.543417 m/s,
      LOS rate: -0.004090 deg/s,
      cmd heading: 268.572874 deg,
      new cmd heading: 268.566868 deg.

2025-01-08T17:24:00.676Z,1736357040.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687376 target range: 366.799988 and range: 351.90 m.
2025-01-08T17:24:00.684Z,1736357040.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230310
2025-01-08T17:24:00.937Z,1736357040.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482678
2025-01-08T17:24:01.001Z,1736357041.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:01.025Z,1736357041.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.80 m.
2025-01-08T17:24:01.032Z,1736357041.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.799988 m,
      nav range: 340.492676 m,
      bearing: 266.751704 deg,
      approach rate: -0.628877 m/s,
      LOS rate: -0.004401 deg/s,
      cmd heading: 268.566863 deg,
      new cmd heading: 268.562049 deg.

2025-01-08T17:24:01.033Z,1736357041.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687292 target range: 366.799988 and range: 351.90 m.
2025-01-08T17:24:01.188Z,1736357041.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734127
2025-01-08T17:24:01.394Z,1736357041.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:01.408Z,1736357041.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.80 m.
2025-01-08T17:24:01.411Z,1736357041.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.799988 m,
      nav range: 340.260895 m,
      bearing: 266.749959 deg,
      approach rate: -0.604795 m/s,
      LOS rate: -0.004556 deg/s,
      cmd heading: 268.562055 deg,
      new cmd heading: 268.556816 deg.

2025-01-08T17:24:01.413Z,1736357041.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687201 target range: 366.799988 and range: 351.90 m.
2025-01-08T17:24:01.444Z,1736357041.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988796
2025-01-08T17:24:01.693Z,1736357041.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238914
2025-01-08T17:24:01.837Z,1736357041.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:01.844Z,1736357041.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:01.846Z,1736357041.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.80 m.
2025-01-08T17:24:01.849Z,1736357041.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.799988 m,
      nav range: 339.998413 m,
      bearing: 266.746832 deg,
      approach rate: -0.599907 m/s,
      LOS rate: -0.007151 deg/s,
      cmd heading: 268.556809 deg,
      new cmd heading: 268.547422 deg.

2025-01-08T17:24:01.850Z,1736357041.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687037 target range: 366.799988 and range: 351.90 m.
2025-01-08T17:24:01.944Z,1736357041.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490305
2025-01-08T17:24:02.197Z,1736357042.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743296
2025-01-08T17:24:02.201Z,1736357042.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:02.210Z,1736357042.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.80 m.
2025-01-08T17:24:02.214Z,1736357042.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.799988 m,
      nav range: 339.781311 m,
      bearing: 266.744191 deg,
      approach rate: -0.596944 m/s,
      LOS rate: -0.007267 deg/s,
      cmd heading: 268.547411 deg,
      new cmd heading: 268.539482 deg.

2025-01-08T17:24:02.215Z,1736357042.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686898 target range: 366.799988 and range: 351.90 m.
2025-01-08T17:24:02.452Z,1736357042.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996823
2025-01-08T17:24:02.643Z,1736357042.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:02.661Z,1736357042.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.80 m.
2025-01-08T17:24:02.669Z,1736357042.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.799988 m,
      nav range: 339.516632 m,
      bearing: 266.740714 deg,
      approach rate: -0.586367 m/s,
      LOS rate: -0.007709 deg/s,
      cmd heading: 268.539488 deg,
      new cmd heading: 268.529048 deg.

2025-01-08T17:24:02.670Z,1736357042.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686716 target range: 366.799988 and range: 351.90 m.
2025-01-08T17:24:02.701Z,1736357042.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247030
2025-01-08T17:24:02.952Z,1736357042.952 [DAT](INFO): DAT read: Rx Time:17:24:01.6687

2025-01-08T17:24:02.953Z,1736357042.953 [DAT](INFO): Rx dataTimestamp_ set to:1736357042.952660
2025-01-08T17:24:02.953Z,1736357042.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499311
2025-01-08T17:24:03.040Z,1736357043.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:03.056Z,1736357043.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 366.80 m.
2025-01-08T17:24:03.059Z,1736357043.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 366.799988 m,
      nav range: 339.260162 m,
      bearing: 266.737290 deg,
      approach rate: -0.649402 m/s,
      LOS rate: -0.008677 deg/s,
      cmd heading: 268.529051 deg,
      new cmd heading: 268.518771 deg.

2025-01-08T17:24:03.064Z,1736357043.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686537 target range: 366.799988 and range: 351.90 m.
2025-01-08T17:24:03.204Z,1736357043.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750007
2025-01-08T17:24:03.509Z,1736357043.509 [DAT](INFO): DAT read: 17:24:01.6687 LVL= 16880, 22977, 14482, 18131, AGC= 71, IDX=  57, 0.08,-2.847, 2.217,-2.845, 2.782, PHS= 0.743,-0.518, 0.654, RAW= 146.4, -14.3, CAL= 153.0, -22.4, ROT= 357.0,  22.4

2025-01-08T17:24:03.525Z,1736357043.525 [DAT](INFO): got valid direction response:
 17:24:01.6687 LVL= 16880, 22977, 14482, 18131, AGC= 71, IDX=  57, 0.08,-2.847, 2.217,-2.845, 2.782, PHS= 0.743,-0.518, 0.654, RAW= 146.4, -14.3, CAL= 153.0, -22.4, ROT= 357.0,  22.4

2025-01-08T17:24:03.526Z,1736357043.526 [DAT](INFO): DAT read: Bearing 357.0,  22.4 (Local)

2025-01-08T17:24:03.526Z,1736357043.526 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.0,  22.4 (Local)

2025-01-08T17:24:03.534Z,1736357043.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:03.540Z,1736357043.540 [DAT](INFO): DAT read: Range 10 to 50 : 360.7 m  (Round-trip  481.0 ms) speed  0.6 m/s

2025-01-08T17:24:03.541Z,1736357043.541 [DAT](INFO): DAT read: user:108>

2025-01-08T17:24:03.541Z,1736357043.541 [DAT](INFO): DAT read: Tx time:17:24:02.7835

2025-01-08T17:24:03.542Z,1736357043.542 [DAT](INFO): Ping request sent.
2025-01-08T17:24:03.542Z,1736357043.542 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:24:03.542Z,1736357043.542 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:24:03.567Z,1736357043.567 [DAT](INFO): direction in FSK: [0.923279,-0.048387,-0.381070]
2025-01-08T17:24:03.568Z,1736357043.568 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:03.568Z,1736357043.568 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:03.571Z,1736357043.571 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:03.587Z,1736357043.587 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:03.632Z,1736357043.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 360.700012 m,
      deltaT: 4.032864 s,
      deltaX: 8.800018 m,
      approachRate: 2.182077 m/s,
      rangeRepo size: 4

2025-01-08T17:24:03.634Z,1736357043.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 360.700012 m,
      bearing: 269.042506 deg,
      lat: 36.903912 deg,
      lon: -122.119189 deg,
      deltaT: 7.813106 s,
      deltaX: -6.099976 m,
      approachRate: -0.780736 m/s,
      posRepo size: 4

2025-01-08T17:24:03.635Z,1736357043.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.70 m.
2025-01-08T17:24:03.647Z,1736357043.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.700012 m,
      nav range: 340.531158 m,
      bearing: 266.748302 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008677 deg/s,
      cmd heading: 268.518779 deg,
      new cmd heading: 268.504432 deg.

2025-01-08T17:24:03.660Z,1736357043.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686286 target range: 360.700012 and range: 360.70 m.
2025-01-08T17:24:03.709Z,1736357043.709 [DAT](INFO): DAT read: TxSync time:17:24:02.7828

2025-01-08T17:24:04.061Z,1736357044.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:04.077Z,1736357044.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:04.083Z,1736357044.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.70 m.
2025-01-08T17:24:04.086Z,1736357044.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.700012 m,
      nav range: 340.184357 m,
      bearing: 266.743716 deg,
      approach rate: -0.735497 m/s,
      LOS rate: -0.009735 deg/s,
      cmd heading: 268.504435 deg,
      new cmd heading: 268.490664 deg.

2025-01-08T17:24:04.087Z,1736357044.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686046 target range: 360.700012 and range: 360.70 m.
2025-01-08T17:24:04.213Z,1736357044.213 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:24:04.213Z,1736357044.213 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:24:04.213Z,1736357044.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:24:04.370Z,1736357044.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:04.378Z,1736357044.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.70 m.
2025-01-08T17:24:04.382Z,1736357044.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.700012 m,
      nav range: 339.981537 m,
      bearing: 266.741044 deg,
      approach rate: -0.677188 m/s,
      LOS rate: -0.008925 deg/s,
      cmd heading: 268.490665 deg,
      new cmd heading: 268.482646 deg.

2025-01-08T17:24:04.383Z,1736357044.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685906 target range: 360.700012 and range: 360.70 m.
2025-01-08T17:24:04.469Z,1736357044.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.926532
2025-01-08T17:24:04.717Z,1736357044.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.175180
2025-01-08T17:24:04.803Z,1736357044.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:04.812Z,1736357044.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.70 m.
2025-01-08T17:24:04.814Z,1736357044.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.700012 m,
      nav range: 339.670410 m,
      bearing: 266.735864 deg,
      approach rate: -0.717795 m/s,
      LOS rate: -0.011962 deg/s,
      cmd heading: 268.482633 deg,
      new cmd heading: 268.467078 deg.

2025-01-08T17:24:04.816Z,1736357044.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685635 target range: 360.700012 and range: 360.70 m.
2025-01-08T17:24:04.968Z,1736357044.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.426541
2025-01-08T17:24:05.201Z,1736357045.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:05.210Z,1736357045.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.70 m.
2025-01-08T17:24:05.214Z,1736357045.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.700012 m,
      nav range: 339.385010 m,
      bearing: 266.731243 deg,
      approach rate: -0.716921 m/s,
      LOS rate: -0.011619 deg/s,
      cmd heading: 268.467088 deg,
      new cmd heading: 268.453212 deg.

2025-01-08T17:24:05.215Z,1736357045.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685392 target range: 360.700012 and range: 360.70 m.
2025-01-08T17:24:05.220Z,1736357045.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.678664
2025-01-08T17:24:05.472Z,1736357045.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.930432
2025-01-08T17:24:05.630Z,1736357045.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:05.639Z,1736357045.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.70 m.
2025-01-08T17:24:05.642Z,1736357045.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.700012 m,
      nav range: 339.063629 m,
      bearing: 266.725981 deg,
      approach rate: -0.748349 m/s,
      LOS rate: -0.012264 deg/s,
      cmd heading: 268.453209 deg,
      new cmd heading: 268.437408 deg.

2025-01-08T17:24:05.643Z,1736357045.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685117 target range: 360.700012 and range: 360.70 m.
2025-01-08T17:24:05.724Z,1736357045.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.182680
2025-01-08T17:24:05.976Z,1736357045.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.434652
2025-01-08T17:24:05.992Z,1736357045.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:06.001Z,1736357046.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.70 m.
2025-01-08T17:24:06.032Z,1736357046.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.700012 m,
      nav range: 338.793060 m,
      bearing: 266.721704 deg,
      approach rate: -0.746611 m/s,
      LOS rate: -0.011811 deg/s,
      cmd heading: 268.437417 deg,
      new cmd heading: 268.424576 deg.

2025-01-08T17:24:06.033Z,1736357046.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.684893 target range: 360.700012 and range: 360.70 m.
2025-01-08T17:24:06.228Z,1736357046.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.686351
2025-01-08T17:24:06.386Z,1736357046.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:06.393Z,1736357046.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:06.395Z,1736357046.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.70 m.
2025-01-08T17:24:06.399Z,1736357046.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.700012 m,
      nav range: 338.498077 m,
      bearing: 266.717107 deg,
      approach rate: -0.749890 m/s,
      LOS rate: -0.011696 deg/s,
      cmd heading: 268.424577 deg,
      new cmd heading: 268.410774 deg.

2025-01-08T17:24:06.400Z,1736357046.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.684652 target range: 360.700012 and range: 360.70 m.
2025-01-08T17:24:06.485Z,1736357046.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.942401
2025-01-08T17:24:06.732Z,1736357046.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.190599
2025-01-08T17:24:06.832Z,1736357046.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:06.841Z,1736357046.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.70 m.
2025-01-08T17:24:06.844Z,1736357046.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.700012 m,
      nav range: 338.145538 m,
      bearing: 266.710818 deg,
      approach rate: -0.790475 m/s,
      LOS rate: -0.014117 deg/s,
      cmd heading: 268.410780 deg,
      new cmd heading: 268.391892 deg.

2025-01-08T17:24:06.845Z,1736357046.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.684322 target range: 360.700012 and range: 360.70 m.
2025-01-08T17:24:06.986Z,1736357046.986 [DAT](INFO): DAT read: Rx Time:17:24:05.6663

2025-01-08T17:24:06.986Z,1736357046.986 [DAT](INFO): Rx dataTimestamp_ set to:1736357046.986047
2025-01-08T17:24:06.987Z,1736357046.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.445133
2025-01-08T17:24:07.191Z,1736357047.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:07.200Z,1736357047.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 360.70 m.
2025-01-08T17:24:07.202Z,1736357047.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 360.700012 m,
      nav range: 337.861908 m,
      bearing: 266.705893 deg,
      approach rate: -0.791064 m/s,
      LOS rate: -0.013746 deg/s,
      cmd heading: 268.391901 deg,
      new cmd heading: 268.377116 deg.

2025-01-08T17:24:07.206Z,1736357047.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.684064 target range: 360.700012 and range: 360.70 m.
2025-01-08T17:24:07.236Z,1736357047.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.694613
2025-01-08T17:24:07.503Z,1736357047.503 [DAT](INFO): DAT read: 17:24:05.6663 LVL= 26384, 32753, 24274, 32755, AGC= 64, IDX= 416, 0.14, 1.742, 0.470, 1.715, 1.068, PHS= 0.762,-0.552, 0.643, RAW= 145.3, -13.5, CAL= 152.1, -21.9, ROT= 357.9,  21.9

2025-01-08T17:24:07.504Z,1736357047.504 [DAT](INFO): got valid direction response:
 17:24:05.6663 LVL= 26384, 32753, 24274, 32755, AGC= 64, IDX= 416, 0.14, 1.742, 0.470, 1.715, 1.068, PHS= 0.762,-0.552, 0.643, RAW= 145.3, -13.5, CAL= 152.1, -21.9, ROT= 357.9,  21.9

2025-01-08T17:24:07.505Z,1736357047.505 [DAT](INFO): DAT read: Bearing 357.9,  21.9 (Local)

2025-01-08T17:24:07.506Z,1736357047.506 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.9,  21.9 (Local)

2025-01-08T17:24:07.507Z,1736357047.507 [DAT](INFO): DAT read: Range 10 to 50 : 358.9 m  (Round-trip  478.6 ms) speed  0.7 m/s

2025-01-08T17:24:07.508Z,1736357047.508 [DAT](INFO): DAT read: user:109>

2025-01-08T17:24:07.509Z,1736357047.509 [DAT](INFO): DAT read: Tx time:17:24:06.7835

2025-01-08T17:24:07.510Z,1736357047.510 [DAT](INFO): Ping request sent.
2025-01-08T17:24:07.510Z,1736357047.510 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:24:07.512Z,1736357047.512 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:24:07.517Z,1736357047.517 [DAT](INFO): direction in FSK: [0.927213,-0.033999,-0.372988]
2025-01-08T17:24:07.518Z,1736357047.518 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:07.519Z,1736357047.519 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:07.537Z,1736357047.537 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:07.538Z,1736357047.538 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:07.718Z,1736357047.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:07.744Z,1736357047.744 [DAT](INFO): DAT read: TxSync time:17:24:06.7828

2025-01-08T17:24:07.760Z,1736357047.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 358.899994 m,
      deltaT: 4.031243 s,
      deltaX: -1.800018 m,
      approachRate: -0.446517 m/s,
      rangeRepo size: 4

2025-01-08T17:24:07.767Z,1736357047.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 358.899994 m,
      bearing: 268.895589 deg,
      lat: 36.904028 deg,
      lon: -122.119199 deg,
      deltaT: 4.031243 s,
      deltaX: -1.800018 m,
      approachRate: -0.446517 m/s,
      posRepo size: 4

2025-01-08T17:24:07.768Z,1736357047.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.90 m.
2025-01-08T17:24:07.771Z,1736357047.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.899994 m,
      nav range: 337.859802 m,
      bearing: 268.890741 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013746 deg/s,
      cmd heading: 268.377120 deg,
      new cmd heading: 268.354200 deg.

2025-01-08T17:24:07.776Z,1736357047.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683664 target range: 358.899994 and range: 358.90 m.
2025-01-08T17:24:08.061Z,1736357048.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:08.079Z,1736357048.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.90 m.
2025-01-08T17:24:08.086Z,1736357048.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.899994 m,
      nav range: 337.583862 m,
      bearing: 268.887415 deg,
      approach rate: -0.853598 m/s,
      LOS rate: -0.010296 deg/s,
      cmd heading: 268.354198 deg,
      new cmd heading: 268.344214 deg.

2025-01-08T17:24:08.087Z,1736357048.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683490 target range: 358.899994 and range: 358.90 m.
2025-01-08T17:24:08.437Z,1736357048.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:08.459Z,1736357048.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:08.462Z,1736357048.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.90 m.
2025-01-08T17:24:08.469Z,1736357048.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.899994 m,
      nav range: 337.282440 m,
      bearing: 268.883813 deg,
      approach rate: -0.786802 m/s,
      LOS rate: -0.009412 deg/s,
      cmd heading: 268.344226 deg,
      new cmd heading: 268.333409 deg.

2025-01-08T17:24:08.470Z,1736357048.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683301 target range: 358.899994 and range: 358.90 m.
2025-01-08T17:24:08.501Z,1736357048.501 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:24:08.501Z,1736357048.501 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:24:08.501Z,1736357048.501 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:24:08.752Z,1736357048.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242483
2025-01-08T17:24:08.868Z,1736357048.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:08.876Z,1736357048.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.90 m.
2025-01-08T17:24:08.879Z,1736357048.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.899994 m,
      nav range: 336.936676 m,
      bearing: 268.880510 deg,
      approach rate: -0.833995 m/s,
      LOS rate: -0.007974 deg/s,
      cmd heading: 268.333407 deg,
      new cmd heading: 268.323489 deg.

2025-01-08T17:24:08.881Z,1736357048.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683128 target range: 358.899994 and range: 358.90 m.
2025-01-08T17:24:09.004Z,1736357049.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494702
2025-01-08T17:24:09.239Z,1736357049.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:09.256Z,1736357049.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746667
2025-01-08T17:24:09.275Z,1736357049.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.90 m.
2025-01-08T17:24:09.282Z,1736357049.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.899994 m,
      nav range: 336.639435 m,
      bearing: 268.877774 deg,
      approach rate: -0.745599 m/s,
      LOS rate: -0.006868 deg/s,
      cmd heading: 268.323490 deg,
      new cmd heading: 268.315275 deg.

2025-01-08T17:24:09.288Z,1736357049.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682985 target range: 358.899994 and range: 358.90 m.
2025-01-08T17:24:09.509Z,1736357049.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999285
2025-01-08T17:24:09.685Z,1736357049.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:09.718Z,1736357049.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.90 m.
2025-01-08T17:24:09.725Z,1736357049.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.899994 m,
      nav range: 336.298553 m,
      bearing: 268.875084 deg,
      approach rate: -0.770287 m/s,
      LOS rate: -0.006085 deg/s,
      cmd heading: 268.315266 deg,
      new cmd heading: 268.307188 deg.

2025-01-08T17:24:09.726Z,1736357049.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682844 target range: 358.899994 and range: 358.90 m.
2025-01-08T17:24:09.760Z,1736357049.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250693
2025-01-08T17:24:10.012Z,1736357050.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502490
2025-01-08T17:24:10.058Z,1736357050.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:10.092Z,1736357050.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.90 m.
2025-01-08T17:24:10.094Z,1736357050.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.899994 m,
      nav range: 336.012238 m,
      bearing: 268.872813 deg,
      approach rate: -0.818081 m/s,
      LOS rate: -0.006494 deg/s,
      cmd heading: 268.307179 deg,
      new cmd heading: 268.300361 deg.

2025-01-08T17:24:10.096Z,1736357050.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682724 target range: 358.899994 and range: 358.90 m.
2025-01-08T17:24:10.264Z,1736357050.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754701
2025-01-08T17:24:10.459Z,1736357050.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:10.467Z,1736357050.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:10.469Z,1736357050.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.90 m.
2025-01-08T17:24:10.472Z,1736357050.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.899994 m,
      nav range: 335.705627 m,
      bearing: 268.870363 deg,
      approach rate: -0.763086 m/s,
      LOS rate: -0.006104 deg/s,
      cmd heading: 268.300349 deg,
      new cmd heading: 268.292991 deg.

2025-01-08T17:24:10.473Z,1736357050.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682596 target range: 358.899994 and range: 358.90 m.
2025-01-08T17:24:10.517Z,1736357050.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007317
2025-01-08T17:24:10.768Z,1736357050.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258559
2025-01-08T17:24:10.921Z,1736357050.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:10.952Z,1736357050.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.90 m.
2025-01-08T17:24:10.954Z,1736357050.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.899994 m,
      nav range: 335.376862 m,
      bearing: 268.868812 deg,
      approach rate: -0.687941 m/s,
      LOS rate: -0.003249 deg/s,
      cmd heading: 268.293000 deg,
      new cmd heading: 268.288342 deg.

2025-01-08T17:24:10.960Z,1736357050.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682515 target range: 358.899994 and range: 358.90 m.
2025-01-08T17:24:11.023Z,1736357051.023 [DAT](INFO): DAT read: Rx Time:17:24:09.6632

2025-01-08T17:24:11.024Z,1736357051.024 [DAT](INFO): Rx dataTimestamp_ set to:1736357051.022863
2025-01-08T17:24:11.024Z,1736357051.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514460
2025-01-08T17:24:11.259Z,1736357051.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:11.272Z,1736357051.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762569
2025-01-08T17:24:11.284Z,1736357051.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 358.90 m.
2025-01-08T17:24:11.287Z,1736357051.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 358.899994 m,
      nav range: 335.136627 m,
      bearing: 268.867615 deg,
      approach rate: -0.712644 m/s,
      LOS rate: -0.003553 deg/s,
      cmd heading: 268.288355 deg,
      new cmd heading: 268.284763 deg.

2025-01-08T17:24:11.288Z,1736357051.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682452 target range: 358.899994 and range: 358.90 m.
2025-01-08T17:24:11.533Z,1736357051.533 [DAT](INFO): DAT read: 17:24:09.6632 LVL= 20896, 27681, 21266, 32755, AGC= 68, IDX= 416, 0.01, 1.952, 0.508, 1.954, 1.166, PHS= 0.875,-0.610, 0.785, RAW= 146.9, -14.4, CAL= 153.5, -22.4, ROT= 356.5,  22.4

2025-01-08T17:24:11.534Z,1736357051.534 [DAT](INFO): got valid direction response:
 17:24:09.6632 LVL= 20896, 27681, 21266, 32755, AGC= 68, IDX= 416, 0.01, 1.952, 0.508, 1.954, 1.166, PHS= 0.875,-0.610, 0.785, RAW= 146.9, -14.4, CAL= 153.5, -22.4, ROT= 356.5,  22.4

2025-01-08T17:24:11.535Z,1736357051.535 [DAT](INFO): DAT read: Bearing 356.5,  22.4 (Local)

2025-01-08T17:24:11.535Z,1736357051.535 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.5,  22.4 (Local)

2025-01-08T17:24:11.537Z,1736357051.537 [DAT](INFO): DAT read: Range 10 to 50 : 356.5 m  (Round-trip  475.4 ms) speed  0.8 m/s

2025-01-08T17:24:11.538Z,1736357051.538 [DAT](INFO): DAT read: user:110>

2025-01-08T17:24:11.538Z,1736357051.538 [DAT](INFO): DAT read: Tx time:17:24:10.7836

2025-01-08T17:24:11.539Z,1736357051.539 [DAT](INFO): Ping request sent.
2025-01-08T17:24:11.539Z,1736357051.539 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:24:11.540Z,1736357051.540 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:24:11.541Z,1736357051.541 [DAT](INFO): direction in FSK: [0.922822,-0.056442,-0.381070]
2025-01-08T17:24:11.541Z,1736357051.541 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:11.541Z,1736357051.541 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:11.549Z,1736357051.549 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:11.549Z,1736357051.549 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:11.752Z,1736357051.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:11.777Z,1736357051.777 [DAT](INFO): DAT read: TxSync time:17:24:10.7829

2025-01-08T17:24:11.778Z,1736357051.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 356.500000 m,
      deltaT: 4.034303 s,
      deltaX: -2.399994 m,
      approachRate: -0.594897 m/s,
      rangeRepo size: 4

2025-01-08T17:24:11.785Z,1736357051.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 356.500000 m,
      bearing: 267.861031 deg,
      lat: 36.903975 deg,
      lon: -122.119218 deg,
      deltaT: 4.034303 s,
      deltaX: -2.399994 m,
      approachRate: -0.594897 m/s,
      posRepo size: 4

2025-01-08T17:24:11.786Z,1736357051.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.50 m.
2025-01-08T17:24:11.793Z,1736357051.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.500000 m,
      nav range: 336.603180 m,
      bearing: 267.862168 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003553 deg/s,
      cmd heading: 268.284749 deg,
      new cmd heading: 268.279514 deg.

2025-01-08T17:24:11.794Z,1736357051.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682361 target range: 356.500000 and range: 356.50 m.
2025-01-08T17:24:12.089Z,1736357052.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:12.109Z,1736357052.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.50 m.
2025-01-08T17:24:12.116Z,1736357052.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.500000 m,
      nav range: 336.384613 m,
      bearing: 267.860885 deg,
      approach rate: -0.655371 m/s,
      LOS rate: -0.003852 deg/s,
      cmd heading: 268.279503 deg,
      new cmd heading: 268.275649 deg.

2025-01-08T17:24:12.117Z,1736357052.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682293 target range: 356.500000 and range: 356.50 m.
2025-01-08T17:24:12.476Z,1736357052.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:12.484Z,1736357052.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:12.486Z,1736357052.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.50 m.
2025-01-08T17:24:12.489Z,1736357052.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.500000 m,
      nav range: 336.133453 m,
      bearing: 267.859345 deg,
      approach rate: -0.665998 m/s,
      LOS rate: -0.004087 deg/s,
      cmd heading: 268.275651 deg,
      new cmd heading: 268.271028 deg.

2025-01-08T17:24:12.490Z,1736357052.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682213 target range: 356.500000 and range: 356.50 m.
2025-01-08T17:24:12.533Z,1736357052.533 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:24:12.533Z,1736357052.533 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:24:12.533Z,1736357052.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:24:12.786Z,1736357052.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247318
2025-01-08T17:24:12.915Z,1736357052.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:12.923Z,1736357052.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.50 m.
2025-01-08T17:24:12.926Z,1736357052.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.500000 m,
      nav range: 335.876190 m,
      bearing: 267.857771 deg,
      approach rate: -0.588501 m/s,
      LOS rate: -0.003603 deg/s,
      cmd heading: 268.271034 deg,
      new cmd heading: 268.266308 deg.

2025-01-08T17:24:12.927Z,1736357052.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682130 target range: 356.500000 and range: 356.50 m.
2025-01-08T17:24:13.037Z,1736357053.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498270
2025-01-08T17:24:13.289Z,1736357053.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749721
2025-01-08T17:24:13.289Z,1736357053.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:13.298Z,1736357053.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.50 m.
2025-01-08T17:24:13.301Z,1736357053.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.500000 m,
      nav range: 335.657959 m,
      bearing: 267.856252 deg,
      approach rate: -0.581832 m/s,
      LOS rate: -0.004051 deg/s,
      cmd heading: 268.266307 deg,
      new cmd heading: 268.261749 deg.

2025-01-08T17:24:13.302Z,1736357053.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682051 target range: 356.500000 and range: 356.50 m.
2025-01-08T17:24:13.540Z,1736357053.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001588
2025-01-08T17:24:13.731Z,1736357053.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:13.739Z,1736357053.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.50 m.
2025-01-08T17:24:13.742Z,1736357053.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.500000 m,
      nav range: 335.416260 m,
      bearing: 267.855601 deg,
      approach rate: -0.547963 m/s,
      LOS rate: -0.001477 deg/s,
      cmd heading: 268.261745 deg,
      new cmd heading: 268.259791 deg.

2025-01-08T17:24:13.743Z,1736357053.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682016 target range: 356.500000 and range: 356.50 m.
2025-01-08T17:24:13.793Z,1736357053.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254065
2025-01-08T17:24:14.044Z,1736357054.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505397
2025-01-08T17:24:14.122Z,1736357054.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:14.131Z,1736357054.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.50 m.
2025-01-08T17:24:14.134Z,1736357054.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.500000 m,
      nav range: 335.203217 m,
      bearing: 267.855027 deg,
      approach rate: -0.543927 m/s,
      LOS rate: -0.001468 deg/s,
      cmd heading: 268.259778 deg,
      new cmd heading: 268.258053 deg.

2025-01-08T17:24:14.135Z,1736357054.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681986 target range: 356.500000 and range: 356.50 m.
2025-01-08T17:24:14.297Z,1736357054.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758589
2025-01-08T17:24:14.503Z,1736357054.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:14.510Z,1736357054.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:14.514Z,1736357054.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.50 m.
2025-01-08T17:24:14.516Z,1736357054.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.500000 m,
      nav range: 335.001831 m,
      bearing: 267.854262 deg,
      approach rate: -0.526968 m/s,
      LOS rate: -0.002003 deg/s,
      cmd heading: 268.258057 deg,
      new cmd heading: 268.255761 deg.

2025-01-08T17:24:14.517Z,1736357054.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681946 target range: 356.500000 and range: 356.50 m.
2025-01-08T17:24:14.549Z,1736357054.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009972
2025-01-08T17:24:14.800Z,1736357054.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261418
2025-01-08T17:24:14.941Z,1736357054.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:14.949Z,1736357054.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.50 m.
2025-01-08T17:24:14.952Z,1736357054.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.500000 m,
      nav range: 334.759949 m,
      bearing: 267.853180 deg,
      approach rate: -0.554706 m/s,
      LOS rate: -0.002483 deg/s,
      cmd heading: 268.255762 deg,
      new cmd heading: 268.252514 deg.

2025-01-08T17:24:14.953Z,1736357054.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681890 target range: 356.500000 and range: 356.50 m.
2025-01-08T17:24:15.054Z,1736357055.054 [DAT](INFO): DAT read: Rx Time:17:24:13.6581

2025-01-08T17:24:15.054Z,1736357055.054 [DAT](INFO): Rx dataTimestamp_ set to:1736357055.053985
2025-01-08T17:24:15.055Z,1736357055.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516010
2025-01-08T17:24:15.306Z,1736357055.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766965
2025-01-08T17:24:15.350Z,1736357055.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:15.410Z,1736357055.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 356.50 m.
2025-01-08T17:24:15.416Z,1736357055.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 356.500000 m,
      nav range: 334.545685 m,
      bearing: 267.852220 deg,
      approach rate: -0.465394 m/s,
      LOS rate: -0.002086 deg/s,
      cmd heading: 268.252510 deg,
      new cmd heading: 268.249629 deg.

2025-01-08T17:24:15.417Z,1736357055.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681839 target range: 356.500000 and range: 356.50 m.
2025-01-08T17:24:15.563Z,1736357055.563 [DAT](INFO): DAT read: 17:24:13.6581 LVL= 27168, 32753, 25074, 32755, AGC= 65, IDX= 396,-0.47, 0.534,-0.753, 0.571,-0.077, PHS= 0.699,-0.629, 0.645, RAW= 148.0, -11.0, CAL= 154.8, -19.2, ROT= 355.2,  19.2

2025-01-08T17:24:15.564Z,1736357055.564 [DAT](INFO): got valid direction response:
 17:24:13.6581 LVL= 27168, 32753, 25074, 32755, AGC= 65, IDX= 396,-0.47, 0.534,-0.753, 0.571,-0.077, PHS= 0.699,-0.629, 0.645, RAW= 148.0, -11.0, CAL= 154.8, -19.2, ROT= 355.2,  19.2

2025-01-08T17:24:15.566Z,1736357055.566 [DAT](INFO): DAT read: Bearing 355.2,  19.2 (Local)

2025-01-08T17:24:15.567Z,1736357055.567 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.2,  19.2 (Local)

2025-01-08T17:24:15.571Z,1736357055.571 [DAT](INFO): DAT read: Range 10 to 50 : 352.7 m  (Round-trip  470.3 ms) speed  0.4 m/s

2025-01-08T17:24:15.572Z,1736357055.572 [DAT](INFO): DAT read: user:111>

2025-01-08T17:24:15.573Z,1736357055.573 [DAT](INFO): DAT read: Tx time:17:24:14.7336

2025-01-08T17:24:15.573Z,1736357055.573 [DAT](INFO): Ping request sent.
2025-01-08T17:24:15.573Z,1736357055.573 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:24:15.574Z,1736357055.574 [DAT](INFO): DAT read: TxSync time:17:24:14.7329

2025-01-08T17:24:15.574Z,1736357055.574 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:24:15.576Z,1736357055.576 [DAT](INFO): direction in FSK: [0.941064,-0.079023,-0.328867]
2025-01-08T17:24:15.576Z,1736357055.576 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:15.576Z,1736357055.576 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:15.588Z,1736357055.588 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:15.588Z,1736357055.588 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:15.838Z,1736357055.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:15.869Z,1736357055.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 352.700012 m,
      deltaT: 4.031891 s,
      deltaX: -3.799988 m,
      approachRate: -0.942483 m/s,
      rangeRepo size: 4

2025-01-08T17:24:15.876Z,1736357055.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 352.700012 m,
      bearing: 267.046007 deg,
      lat: 36.903975 deg,
      lon: -122.119220 deg,
      deltaT: 4.031891 s,
      deltaX: -3.799988 m,
      approachRate: -0.942483 m/s,
      posRepo size: 4

2025-01-08T17:24:15.876Z,1736357055.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.70 m.
2025-01-08T17:24:15.883Z,1736357055.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 352.700012 m,
      nav range: 334.487701 m,
      bearing: 267.850925 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002086 deg/s,
      cmd heading: 268.249642 deg,
      new cmd heading: 268.246768 deg.

2025-01-08T17:24:15.884Z,1736357055.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681789 target range: 352.700012 and range: 352.70 m.
2025-01-08T17:24:16.195Z,1736357056.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:16.204Z,1736357056.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.70 m.
2025-01-08T17:24:16.206Z,1736357056.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 352.700012 m,
      nav range: 334.292419 m,
      bearing: 267.848809 deg,
      approach rate: -0.583410 m/s,
      LOS rate: -0.006326 deg/s,
      cmd heading: 268.246773 deg,
      new cmd heading: 268.240421 deg.

2025-01-08T17:24:16.208Z,1736357056.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681679 target range: 352.700012 and range: 352.70 m.
2025-01-08T17:24:16.606Z,1736357056.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:16.618Z,1736357056.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:16.621Z,1736357056.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.70 m.
2025-01-08T17:24:16.624Z,1736357056.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 352.700012 m,
      nav range: 334.067352 m,
      bearing: 267.846407 deg,
      approach rate: -0.539127 m/s,
      LOS rate: -0.005759 deg/s,
      cmd heading: 268.240435 deg,
      new cmd heading: 268.233222 deg.

2025-01-08T17:24:16.625Z,1736357056.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681553 target range: 352.700012 and range: 352.70 m.
2025-01-08T17:24:16.824Z,1736357056.824 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:24:16.824Z,1736357056.824 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:24:16.824Z,1736357056.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:24:17.024Z,1736357057.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:17.041Z,1736357057.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.70 m.
2025-01-08T17:24:17.068Z,1736357057.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 352.700012 m,
      nav range: 333.824493 m,
      bearing: 267.844332 deg,
      approach rate: -0.581804 m/s,
      LOS rate: -0.004975 deg/s,
      cmd heading: 268.233222 deg,
      new cmd heading: 268.226992 deg.

2025-01-08T17:24:17.069Z,1736357057.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681444 target range: 352.700012 and range: 352.70 m.
2025-01-08T17:24:17.076Z,1736357057.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502976
2025-01-08T17:24:17.329Z,1736357057.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755415
2025-01-08T17:24:17.402Z,1736357057.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:17.411Z,1736357057.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.70 m.
2025-01-08T17:24:17.415Z,1736357057.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 352.700012 m,
      nav range: 333.604126 m,
      bearing: 267.842405 deg,
      approach rate: -0.591505 m/s,
      LOS rate: -0.005175 deg/s,
      cmd heading: 268.226993 deg,
      new cmd heading: 268.221209 deg.

2025-01-08T17:24:17.416Z,1736357057.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681343 target range: 352.700012 and range: 352.70 m.
2025-01-08T17:24:17.581Z,1736357057.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007724
2025-01-08T17:24:17.829Z,1736357057.829 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:17.832Z,1736357057.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259016
2025-01-08T17:24:17.840Z,1736357057.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.70 m.
2025-01-08T17:24:17.842Z,1736357057.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 352.700012 m,
      nav range: 333.329132 m,
      bearing: 267.838881 deg,
      approach rate: -0.641995 m/s,
      LOS rate: -0.008232 deg/s,
      cmd heading: 268.221201 deg,
      new cmd heading: 268.210622 deg.

2025-01-08T17:24:17.844Z,1736357057.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681159 target range: 352.700012 and range: 352.70 m.
2025-01-08T17:24:18.085Z,1736357058.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511636
2025-01-08T17:24:18.211Z,1736357058.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:18.221Z,1736357058.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.70 m.
2025-01-08T17:24:18.223Z,1736357058.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 352.700012 m,
      nav range: 333.082794 m,
      bearing: 267.835779 deg,
      approach rate: -0.646029 m/s,
      LOS rate: -0.008141 deg/s,
      cmd heading: 268.210628 deg,
      new cmd heading: 268.201315 deg.

2025-01-08T17:24:18.225Z,1736357058.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680996 target range: 352.700012 and range: 352.70 m.
2025-01-08T17:24:18.336Z,1736357058.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762985
2025-01-08T17:24:18.588Z,1736357058.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014802
2025-01-08T17:24:18.614Z,1736357058.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:18.622Z,1736357058.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:18.624Z,1736357058.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.70 m.
2025-01-08T17:24:18.627Z,1736357058.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 352.700012 m,
      nav range: 332.822601 m,
      bearing: 267.832612 deg,
      approach rate: -0.645032 m/s,
      LOS rate: -0.007858 deg/s,
      cmd heading: 268.201311 deg,
      new cmd heading: 268.191802 deg.

2025-01-08T17:24:18.628Z,1736357058.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680830 target range: 352.700012 and range: 352.70 m.
2025-01-08T17:24:18.840Z,1736357058.840 [DAT](INFO): DAT read: Rx Time:17:24:17.6056

2025-01-08T17:24:18.841Z,1736357058.841 [DAT](INFO): Rx dataTimestamp_ set to:1736357058.840564
2025-01-08T17:24:18.841Z,1736357058.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268006
2025-01-08T17:24:19.036Z,1736357059.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:24:19.037Z,1736357059.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:19.045Z,1736357059.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 352.70 m.
2025-01-08T17:24:19.048Z,1736357059.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 352.700012 m,
      nav range: 332.550018 m,
      bearing: 267.829384 deg,
      approach rate: -0.647349 m/s,
      LOS rate: -0.007671 deg/s,
      cmd heading: 268.191804 deg,
      new cmd heading: 268.182113 deg.

2025-01-08T17:24:19.049Z,1736357059.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680661 target range: 352.700012 and range: 352.70 m.
2025-01-08T17:24:19.093Z,1736357059.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519732
2025-01-08T17:24:19.355Z,1736357059.355 [DAT](INFO): DAT read: 17:24:17.6056 LVL= 24464, 32753, 21874, 32755, AGC= 69, IDX= 417,-0.03, 3.121, 1.630,-3.132, 2.394, PHS= 0.815,-0.717, 0.754, RAW= 148.0, -11.3, CAL= 155.0, -19.5, ROT= 355.0,  19.5

2025-01-08T17:24:19.356Z,1736357059.356 [DAT](INFO): got valid direction response:
 17:24:17.6056 LVL= 24464, 32753, 21874, 32755, AGC= 69, IDX= 417,-0.03, 3.121, 1.630,-3.132, 2.394, PHS= 0.815,-0.717, 0.754, RAW= 148.0, -11.3, CAL= 155.0, -19.5, ROT= 355.0,  19.5

2025-01-08T17:24:19.357Z,1736357059.357 [DAT](INFO): DAT read: Bearing 355.0,  19.5 (Local)

2025-01-08T17:24:19.358Z,1736357059.358 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.0,  19.5 (Local)

2025-01-08T17:24:19.384Z,1736357059.384 [DAT](INFO): DAT read: Range 10 to 50 : 350.7 m  (Round-trip  467.7 ms) speed  0.5 m/s

2025-01-08T17:24:19.385Z,1736357059.385 [DAT](INFO): DAT read: user:112>

2025-01-08T17:24:19.386Z,1736357059.386 [DAT](INFO): DAT read: Tx time:17:24:18.7337

2025-01-08T17:24:19.386Z,1736357059.386 [DAT](INFO): Ping request sent.
2025-01-08T17:24:19.386Z,1736357059.386 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:24:19.386Z,1736357059.386 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:24:19.387Z,1736357059.387 [DAT](INFO): direction in FSK: [0.939054,-0.082156,-0.333807]
2025-01-08T17:24:19.388Z,1736357059.388 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:19.388Z,1736357059.388 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:19.391Z,1736357059.391 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:19.391Z,1736357059.391 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:19.437Z,1736357059.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:24:19.437Z,1736357059.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:19.489Z,1736357059.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 350.700012 m,
      deltaT: 3.789481 s,
      deltaX: -2.000000 m,
      approachRate: -0.527777 m/s,
      rangeRepo size: 4

2025-01-08T17:24:19.495Z,1736357059.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 350.700012 m,
      bearing: 266.442919 deg,
      lat: 36.903975 deg,
      lon: -122.119220 deg,
      deltaT: 3.789481 s,
      deltaX: -2.000000 m,
      approachRate: -0.527777 m/s,
      posRepo size: 4

2025-01-08T17:24:19.508Z,1736357059.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m.
2025-01-08T17:24:19.510Z,1736357059.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.700012 m,
      nav range: 332.291382 m,
      bearing: 267.826460 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007671 deg/s,
      cmd heading: 268.182105 deg,
      new cmd heading: 268.171901 deg.

2025-01-08T17:24:19.516Z,1736357059.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680483 target range: 350.700012 and range: 350.70 m.
2025-01-08T17:24:19.602Z,1736357059.602 [DAT](INFO): DAT read: TxSync time:17:24:18.7330

2025-01-08T17:24:19.884Z,1736357059.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:19.892Z,1736357059.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m.
2025-01-08T17:24:19.896Z,1736357059.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.700012 m,
      nav range: 331.962616 m,
      bearing: 267.821768 deg,
      approach rate: -0.814218 m/s,
      LOS rate: -0.011630 deg/s,
      cmd heading: 268.171914 deg,
      new cmd heading: 268.157826 deg.

2025-01-08T17:24:19.897Z,1736357059.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680237 target range: 350.700012 and range: 350.70 m.
2025-01-08T17:24:20.232Z,1736357060.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:20.258Z,1736357060.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m.
2025-01-08T17:24:20.261Z,1736357060.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.700012 m,
      nav range: 331.705872 m,
      bearing: 267.818324 deg,
      approach rate: -0.701300 m/s,
      LOS rate: -0.009416 deg/s,
      cmd heading: 268.157817 deg,
      new cmd heading: 268.147475 deg.

2025-01-08T17:24:20.263Z,1736357060.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680056 target range: 350.700012 and range: 350.70 m.
2025-01-08T17:24:20.635Z,1736357060.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:20.642Z,1736357060.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:20.644Z,1736357060.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m.
2025-01-08T17:24:20.648Z,1736357060.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.700012 m,
      nav range: 331.408844 m,
      bearing: 267.814617 deg,
      approach rate: -0.769962 m/s,
      LOS rate: -0.009618 deg/s,
      cmd heading: 268.147462 deg,
      new cmd heading: 268.136331 deg.

2025-01-08T17:24:20.649Z,1736357060.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.679862 target range: 350.700012 and range: 350.70 m.
2025-01-08T17:24:20.860Z,1736357060.860 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:24:20.860Z,1736357060.860 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:24:20.860Z,1736357060.860 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:24:21.060Z,1736357061.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:21.069Z,1736357061.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m.
2025-01-08T17:24:21.092Z,1736357061.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.700012 m,
      nav range: 331.081879 m,
      bearing: 267.810420 deg,
      approach rate: -0.770002 m/s,
      LOS rate: -0.009893 deg/s,
      cmd heading: 268.136343 deg,
      new cmd heading: 268.123740 deg.

2025-01-08T17:24:21.093Z,1736357061.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.679642 target range: 350.700012 and range: 350.70 m.
2025-01-08T17:24:21.113Z,1736357061.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726399
2025-01-08T17:24:21.365Z,1736357061.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978617
2025-01-08T17:24:21.440Z,1736357061.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:21.453Z,1736357061.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m.
2025-01-08T17:24:21.456Z,1736357061.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.700012 m,
      nav range: 330.790070 m,
      bearing: 267.806740 deg,
      approach rate: -0.759443 m/s,
      LOS rate: -0.009585 deg/s,
      cmd heading: 268.123748 deg,
      new cmd heading: 268.112699 deg.

2025-01-08T17:24:21.457Z,1736357061.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.679450 target range: 350.700012 and range: 350.70 m.
2025-01-08T17:24:21.616Z,1736357061.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230183
2025-01-08T17:24:21.868Z,1736357061.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482366
2025-01-08T17:24:21.874Z,1736357061.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:21.884Z,1736357061.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m.
2025-01-08T17:24:21.907Z,1736357061.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.700012 m,
      nav range: 330.452850 m,
      bearing: 267.802195 deg,
      approach rate: -0.781718 m/s,
      LOS rate: -0.010547 deg/s,
      cmd heading: 268.112710 deg,
      new cmd heading: 268.099061 deg.

2025-01-08T17:24:21.909Z,1736357061.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.679211 target range: 350.700012 and range: 350.70 m.
2025-01-08T17:24:22.122Z,1736357062.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735584
2025-01-08T17:24:22.271Z,1736357062.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:22.281Z,1736357062.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m.
2025-01-08T17:24:22.284Z,1736357062.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.700012 m,
      nav range: 330.154388 m,
      bearing: 267.798237 deg,
      approach rate: -0.753024 m/s,
      LOS rate: -0.009997 deg/s,
      cmd heading: 268.099050 deg,
      new cmd heading: 268.087163 deg.

2025-01-08T17:24:22.285Z,1736357062.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.679004 target range: 350.700012 and range: 350.70 m.
2025-01-08T17:24:22.373Z,1736357062.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986962
2025-01-08T17:24:22.625Z,1736357062.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238461
2025-01-08T17:24:22.667Z,1736357062.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:22.674Z,1736357062.674 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:22.679Z,1736357062.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m.
2025-01-08T17:24:22.684Z,1736357062.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.700012 m,
      nav range: 329.838013 m,
      bearing: 267.794066 deg,
      approach rate: -0.795786 m/s,
      LOS rate: -0.010501 deg/s,
      cmd heading: 268.087165 deg,
      new cmd heading: 268.074641 deg.

2025-01-08T17:24:22.685Z,1736357062.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.678785 target range: 350.700012 and range: 350.70 m.
2025-01-08T17:24:22.876Z,1736357062.876 [DAT](INFO): DAT read: Rx Time:17:24:21.6032

2025-01-08T17:24:22.877Z,1736357062.877 [DAT](INFO): Rx dataTimestamp_ set to:1736357062.876452
2025-01-08T17:24:22.877Z,1736357062.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491244
2025-01-08T17:24:23.093Z,1736357063.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:23.102Z,1736357063.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.70 m.
2025-01-08T17:24:23.104Z,1736357063.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 350.700012 m,
      nav range: 329.499695 m,
      bearing: 267.789743 deg,
      approach rate: -0.799301 m/s,
      LOS rate: -0.010223 deg/s,
      cmd heading: 268.074652 deg,
      new cmd heading: 268.061671 deg.

2025-01-08T17:24:23.105Z,1736357063.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.678559 target range: 350.700012 and range: 350.70 m.
2025-01-08T17:24:23.128Z,1736357063.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.742088
2025-01-08T17:24:23.387Z,1736357063.387 [DAT](INFO): DAT read: 17:24:21.6032 LVL= 23744, 32753, 21330, 32755, AGC= 65, IDX= 409,-0.38, 1.131,-0.269, 1.072, 0.432, PHS= 0.787,-0.654, 0.637, RAW= 144.6, -11.2, CAL= 151.8, -20.1, ROT= 358.2,  20.1

2025-01-08T17:24:23.388Z,1736357063.388 [DAT](INFO): got valid direction response:
 17:24:21.6032 LVL= 23744, 32753, 21330, 32755, AGC= 65, IDX= 409,-0.38, 1.131,-0.269, 1.072, 0.432, PHS= 0.787,-0.654, 0.637, RAW= 144.6, -11.2, CAL= 151.8, -20.1, ROT= 358.2,  20.1

2025-01-08T17:24:23.389Z,1736357063.389 [DAT](INFO): DAT read: Bearing 358.2,  20.1 (Local)

2025-01-08T17:24:23.389Z,1736357063.389 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.2,  20.1 (Local)

2025-01-08T17:24:23.391Z,1736357063.391 [DAT](INFO): DAT read: Range 10 to 50 : 348.9 m  (Round-trip  465.3 ms) speed  0.8 m/s

2025-01-08T17:24:23.392Z,1736357063.392 [DAT](INFO): DAT read: user:113>

2025-01-08T17:24:23.393Z,1736357063.393 [DAT](INFO): DAT read: Tx time:17:24:22.7337

2025-01-08T17:24:23.393Z,1736357063.393 [DAT](INFO): Ping request sent.
2025-01-08T17:24:23.393Z,1736357063.393 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:24:23.393Z,1736357063.393 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:24:23.394Z,1736357063.394 [DAT](INFO): direction in FSK: [0.938631,-0.029498,-0.343660]
2025-01-08T17:24:23.394Z,1736357063.394 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:23.395Z,1736357063.395 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:23.399Z,1736357063.399 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:23.399Z,1736357063.399 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:23.476Z,1736357063.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:23.511Z,1736357063.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 348.899994 m,
      deltaT: 4.035103 s,
      deltaX: -1.800018 m,
      approachRate: -0.446090 m/s,
      rangeRepo size: 4

2025-01-08T17:24:23.530Z,1736357063.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 348.899994 m,
      bearing: 268.529957 deg,
      lat: 36.903975 deg,
      lon: -122.119253 deg,
      deltaT: 4.035103 s,
      deltaX: -1.800018 m,
      approachRate: -0.446090 m/s,
      posRepo size: 4

2025-01-08T17:24:23.531Z,1736357063.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.90 m.
2025-01-08T17:24:23.542Z,1736357063.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.899994 m,
      nav range: 332.122620 m,
      bearing: 267.805425 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010223 deg/s,
      cmd heading: 268.061675 deg,
      new cmd heading: 268.049144 deg.

2025-01-08T17:24:23.543Z,1736357063.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.678340 target range: 348.899994 and range: 348.90 m.
2025-01-08T17:24:23.634Z,1736357063.634 [DAT](INFO): DAT read: TxSync time:17:24:22.7330

2025-01-08T17:24:23.901Z,1736357063.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:23.909Z,1736357063.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.90 m.
2025-01-08T17:24:23.913Z,1736357063.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.899994 m,
      nav range: 331.789246 m,
      bearing: 267.801259 deg,
      approach rate: -0.835109 m/s,
      LOS rate: -0.010448 deg/s,
      cmd heading: 268.049135 deg,
      new cmd heading: 268.036622 deg.

2025-01-08T17:24:23.914Z,1736357063.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.678122 target range: 348.899994 and range: 348.90 m.
2025-01-08T17:24:24.282Z,1736357064.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:24.290Z,1736357064.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.90 m.
2025-01-08T17:24:24.293Z,1736357064.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.899994 m,
      nav range: 331.490112 m,
      bearing: 267.797616 deg,
      approach rate: -0.786070 m/s,
      LOS rate: -0.009581 deg/s,
      cmd heading: 268.036622 deg,
      new cmd heading: 268.025683 deg.

2025-01-08T17:24:24.294Z,1736357064.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677931 target range: 348.899994 and range: 348.90 m.
2025-01-08T17:24:24.682Z,1736357064.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:24.720Z,1736357064.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:24.723Z,1736357064.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.90 m.
2025-01-08T17:24:24.736Z,1736357064.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.899994 m,
      nav range: 331.175934 m,
      bearing: 267.793809 deg,
      approach rate: -0.725478 m/s,
      LOS rate: -0.008799 deg/s,
      cmd heading: 268.025694 deg,
      new cmd heading: 268.014262 deg.

2025-01-08T17:24:24.737Z,1736357064.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677732 target range: 348.899994 and range: 348.90 m.
2025-01-08T17:24:24.892Z,1736357064.892 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:24:24.892Z,1736357064.892 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:24:24.893Z,1736357064.893 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:24:25.117Z,1736357065.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:25.126Z,1736357065.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.90 m.
2025-01-08T17:24:25.129Z,1736357065.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.899994 m,
      nav range: 330.847076 m,
      bearing: 267.789656 deg,
      approach rate: -0.816159 m/s,
      LOS rate: -0.010316 deg/s,
      cmd heading: 268.014273 deg,
      new cmd heading: 268.001803 deg.

2025-01-08T17:24:25.130Z,1736357065.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677514 target range: 348.899994 and range: 348.90 m.
2025-01-08T17:24:25.144Z,1736357065.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751198
2025-01-08T17:24:25.397Z,1736357065.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003905
2025-01-08T17:24:25.497Z,1736357065.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:25.526Z,1736357065.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.90 m.
2025-01-08T17:24:25.530Z,1736357065.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.899994 m,
      nav range: 330.560364 m,
      bearing: 267.785991 deg,
      approach rate: -0.717165 m/s,
      LOS rate: -0.009176 deg/s,
      cmd heading: 268.001815 deg,
      new cmd heading: 267.990810 deg.

2025-01-08T17:24:25.532Z,1736357065.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677322 target range: 348.899994 and range: 348.90 m.
2025-01-08T17:24:25.649Z,1736357065.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255731
2025-01-08T17:24:25.900Z,1736357065.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507565
2025-01-08T17:24:25.970Z,1736357065.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:25.979Z,1736357065.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.90 m.
2025-01-08T17:24:25.982Z,1736357065.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.899994 m,
      nav range: 330.221191 m,
      bearing: 267.783262 deg,
      approach rate: -0.749077 m/s,
      LOS rate: -0.006032 deg/s,
      cmd heading: 267.990805 deg,
      new cmd heading: 267.982611 deg.

2025-01-08T17:24:25.983Z,1736357065.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677179 target range: 348.899994 and range: 348.90 m.
2025-01-08T17:24:26.152Z,1736357066.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759328
2025-01-08T17:24:26.306Z,1736357066.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:26.315Z,1736357066.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.90 m.
2025-01-08T17:24:26.318Z,1736357066.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.899994 m,
      nav range: 329.980438 m,
      bearing: 267.781319 deg,
      approach rate: -0.715963 m/s,
      LOS rate: -0.005783 deg/s,
      cmd heading: 267.982609 deg,
      new cmd heading: 267.976775 deg.

2025-01-08T17:24:26.319Z,1736357066.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677077 target range: 348.899994 and range: 348.90 m.
2025-01-08T17:24:26.405Z,1736357066.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012202
2025-01-08T17:24:26.656Z,1736357066.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263275
2025-01-08T17:24:26.725Z,1736357066.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:26.744Z,1736357066.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:26.746Z,1736357066.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.90 m.
2025-01-08T17:24:26.751Z,1736357066.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.899994 m,
      nav range: 329.679840 m,
      bearing: 267.778892 deg,
      approach rate: -0.696430 m/s,
      LOS rate: -0.005627 deg/s,
      cmd heading: 267.976762 deg,
      new cmd heading: 267.969475 deg.

2025-01-08T17:24:26.771Z,1736357066.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676950 target range: 348.899994 and range: 348.90 m.
2025-01-08T17:24:26.860Z,1736357066.860 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:24:26.909Z,1736357066.909 [DAT](INFO): DAT read: Rx Time:17:24:25.5989

2025-01-08T17:24:26.910Z,1736357066.910 [DAT](INFO): Rx dataTimestamp_ set to:1736357066.909526
2025-01-08T17:24:26.911Z,1736357066.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517816
2025-01-08T17:24:27.138Z,1736357067.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:27.160Z,1736357067.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767468
2025-01-08T17:24:27.166Z,1736357067.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.90 m.
2025-01-08T17:24:27.173Z,1736357067.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 348.899994 m,
      nav range: 329.396667 m,
      bearing: 267.776562 deg,
      approach rate: -0.674497 m/s,
      LOS rate: -0.005555 deg/s,
      cmd heading: 267.969467 deg,
      new cmd heading: 267.962471 deg.

2025-01-08T17:24:27.178Z,1736357067.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676827 target range: 348.899994 and range: 348.90 m.
2025-01-08T17:24:27.419Z,1736357067.419 [DAT](INFO): DAT read: 17:24:25.5989 LVL= 23216, 30577, 21202, 32755, AGC= 65, IDX= 393,-0.21, 1.764, 0.433, 1.751, 1.079, PHS= 0.772,-0.599, 0.669, RAW= 146.1, -12.7, CAL= 153.0, -21.1, ROT= 357.0,  21.1

2025-01-08T17:24:27.420Z,1736357067.420 [DAT](INFO): got valid direction response:
 17:24:25.5989 LVL= 23216, 30577, 21202, 32755, AGC= 65, IDX= 393,-0.21, 1.764, 0.433, 1.751, 1.079, PHS= 0.772,-0.599, 0.669, RAW= 146.1, -12.7, CAL= 153.0, -21.1, ROT= 357.0,  21.1

2025-01-08T17:24:27.421Z,1736357067.421 [DAT](INFO): DAT read: Bearing 357.0,  21.1 (Local)

2025-01-08T17:24:27.421Z,1736357067.421 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.0,  21.1 (Local)

2025-01-08T17:24:27.423Z,1736357067.423 [DAT](INFO): DAT read: Range 10 to 50 : 345.7 m  (Round-trip  461.0 ms) speed  0.4 m/s

2025-01-08T17:24:27.424Z,1736357067.424 [DAT](INFO): DAT read: user:114>

2025-01-08T17:24:27.424Z,1736357067.424 [DAT](INFO): DAT read: Tx time:17:24:26.6837

2025-01-08T17:24:27.425Z,1736357067.425 [DAT](INFO): Ping request sent.
2025-01-08T17:24:27.425Z,1736357067.425 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:24:27.425Z,1736357067.425 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:24:27.426Z,1736357067.426 [DAT](INFO): direction in FSK: [0.931675,-0.048827,-0.359997]
2025-01-08T17:24:27.426Z,1736357067.426 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:27.427Z,1736357067.427 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:27.431Z,1736357067.431 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:27.431Z,1736357067.431 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:27.540Z,1736357067.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:27.570Z,1736357067.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 345.700012 m,
      deltaT: 4.031935 s,
      deltaX: -3.199982 m,
      approachRate: -0.793659 m/s,
      rangeRepo size: 4

2025-01-08T17:24:27.589Z,1736357067.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 345.700012 m,
      bearing: 267.436102 deg,
      lat: 36.903957 deg,
      lon: -122.119262 deg,
      deltaT: 4.031935 s,
      deltaX: -3.199982 m,
      approachRate: -0.793659 m/s,
      posRepo size: 4

2025-01-08T17:24:27.590Z,1736357067.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.70 m.
2025-01-08T17:24:27.597Z,1736357067.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.700012 m,
      nav range: 329.975861 m,
      bearing: 267.437217 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005555 deg/s,
      cmd heading: 267.962473 deg,
      new cmd heading: 267.955747 deg.

2025-01-08T17:24:27.598Z,1736357067.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676710 target range: 345.700012 and range: 345.70 m.
2025-01-08T17:24:27.664Z,1736357067.664 [DAT](INFO): DAT read: TxSync time:17:24:26.6830

2025-01-08T17:24:27.865Z,1736357067.865 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:24:27.968Z,1736357067.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:27.986Z,1736357067.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.70 m.
2025-01-08T17:24:27.993Z,1736357067.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.700012 m,
      nav range: 329.702271 m,
      bearing: 267.435887 deg,
      approach rate: -0.657435 m/s,
      LOS rate: -0.003200 deg/s,
      cmd heading: 267.955752 deg,
      new cmd heading: 267.951757 deg.

2025-01-08T17:24:27.994Z,1736357067.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676641 target range: 345.700012 and range: 345.70 m.
2025-01-08T17:24:28.351Z,1736357068.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:28.364Z,1736357068.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.70 m.
2025-01-08T17:24:28.367Z,1736357068.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.700012 m,
      nav range: 329.460510 m,
      bearing: 267.434709 deg,
      approach rate: -0.641345 m/s,
      LOS rate: -0.003126 deg/s,
      cmd heading: 267.951764 deg,
      new cmd heading: 267.948228 deg.

2025-01-08T17:24:28.368Z,1736357068.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676579 target range: 345.700012 and range: 345.70 m.
2025-01-08T17:24:28.782Z,1736357068.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:28.789Z,1736357068.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:28.794Z,1736357068.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.70 m.
2025-01-08T17:24:28.799Z,1736357068.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.700012 m,
      nav range: 329.188080 m,
      bearing: 267.433484 deg,
      approach rate: -0.634303 m/s,
      LOS rate: -0.002853 deg/s,
      cmd heading: 267.948239 deg,
      new cmd heading: 267.944562 deg.

2025-01-08T17:24:28.800Z,1736357068.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676515 target range: 345.700012 and range: 345.70 m.
2025-01-08T17:24:28.925Z,1736357068.925 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:24:28.925Z,1736357068.925 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:24:28.925Z,1736357068.925 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:24:29.178Z,1736357069.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753024
2025-01-08T17:24:29.220Z,1736357069.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:29.254Z,1736357069.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.70 m.
2025-01-08T17:24:29.261Z,1736357069.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.700012 m,
      nav range: 328.925873 m,
      bearing: 267.433086 deg,
      approach rate: -0.568118 m/s,
      LOS rate: -0.000865 deg/s,
      cmd heading: 267.944551 deg,
      new cmd heading: 267.943353 deg.

2025-01-08T17:24:29.262Z,1736357069.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676494 target range: 345.700012 and range: 345.70 m.
2025-01-08T17:24:29.429Z,1736357069.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003870
2025-01-08T17:24:29.590Z,1736357069.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:29.604Z,1736357069.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.70 m.
2025-01-08T17:24:29.607Z,1736357069.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.700012 m,
      nav range: 328.704224 m,
      bearing: 267.432518 deg,
      approach rate: -0.638598 m/s,
      LOS rate: -0.001635 deg/s,
      cmd heading: 267.943349 deg,
      new cmd heading: 267.941646 deg.

2025-01-08T17:24:29.608Z,1736357069.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676464 target range: 345.700012 and range: 345.70 m.
2025-01-08T17:24:29.681Z,1736357069.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256081
2025-01-08T17:24:29.932Z,1736357069.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507508
2025-01-08T17:24:30.038Z,1736357070.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:30.047Z,1736357070.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.70 m.
2025-01-08T17:24:30.050Z,1736357070.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.700012 m,
      nav range: 328.443390 m,
      bearing: 267.431609 deg,
      approach rate: -0.584893 m/s,
      LOS rate: -0.002040 deg/s,
      cmd heading: 267.941655 deg,
      new cmd heading: 267.938925 deg.

2025-01-08T17:24:30.067Z,1736357070.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676416 target range: 345.700012 and range: 345.70 m.
2025-01-08T17:24:30.189Z,1736357070.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764665
2025-01-08T17:24:30.402Z,1736357070.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:30.419Z,1736357070.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.70 m.
2025-01-08T17:24:30.422Z,1736357070.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.700012 m,
      nav range: 328.230865 m,
      bearing: 267.430744 deg,
      approach rate: -0.571345 m/s,
      LOS rate: -0.002327 deg/s,
      cmd heading: 267.938923 deg,
      new cmd heading: 267.936327 deg.

2025-01-08T17:24:30.423Z,1736357070.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676371 target range: 345.700012 and range: 345.70 m.
2025-01-08T17:24:30.440Z,1736357070.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015523
2025-01-08T17:24:30.693Z,1736357070.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268378
2025-01-08T17:24:30.801Z,1736357070.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:30.808Z,1736357070.808 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:30.810Z,1736357070.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.70 m.
2025-01-08T17:24:30.814Z,1736357070.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.700012 m,
      nav range: 327.998596 m,
      bearing: 267.429570 deg,
      approach rate: -0.593684 m/s,
      LOS rate: -0.003005 deg/s,
      cmd heading: 267.936327 deg,
      new cmd heading: 267.932801 deg.

2025-01-08T17:24:30.815Z,1736357070.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676310 target range: 345.700012 and range: 345.70 m.
2025-01-08T17:24:30.944Z,1736357070.944 [DAT](INFO): DAT read: Rx Time:17:24:29.5453

2025-01-08T17:24:30.945Z,1736357070.945 [DAT](INFO): Rx dataTimestamp_ set to:1736357070.944630
2025-01-08T17:24:30.946Z,1736357070.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521247
2025-01-08T17:24:31.197Z,1736357071.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772570
2025-01-08T17:24:31.230Z,1736357071.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:31.305Z,1736357071.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.70 m.
2025-01-08T17:24:31.311Z,1736357071.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 345.700012 m,
      nav range: 327.748383 m,
      bearing: 267.428187 deg,
      approach rate: -0.506116 m/s,
      LOS rate: -0.002798 deg/s,
      cmd heading: 267.932803 deg,
      new cmd heading: 267.928653 deg.

2025-01-08T17:24:31.312Z,1736357071.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676237 target range: 345.700012 and range: 345.70 m.
2025-01-08T17:24:31.455Z,1736357071.455 [DAT](INFO): DAT read: 17:24:29.5453 LVL= 25360, 32753, 22242, 32755, AGC= 67, IDX= 406,-0.30,-1.102,-2.489,-1.114,-1.942, PHS= 0.929,-0.500, 0.825, RAW= 146.3, -17.8, CAL= 152.2, -25.4, ROT= 357.8,  25.4

2025-01-08T17:24:31.456Z,1736357071.456 [DAT](INFO): got valid direction response:
 17:24:29.5453 LVL= 25360, 32753, 22242, 32755, AGC= 67, IDX= 406,-0.30,-1.102,-2.489,-1.114,-1.942, PHS= 0.929,-0.500, 0.825, RAW= 146.3, -17.8, CAL= 152.2, -25.4, ROT= 357.8,  25.4

2025-01-08T17:24:31.457Z,1736357071.457 [DAT](INFO): DAT read: Bearing 357.8,  25.4 (Local)

2025-01-08T17:24:31.457Z,1736357071.457 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.8,  25.4 (Local)

2025-01-08T17:24:31.459Z,1736357071.459 [DAT](INFO): DAT read: Range 10 to 50 : 342.9 m  (Round-trip  457.3 ms) speed  0.3 m/s

2025-01-08T17:24:31.460Z,1736357071.460 [DAT](INFO): DAT read: user:115>

2025-01-08T17:24:31.460Z,1736357071.460 [DAT](INFO): DAT read: Tx time:17:24:30.6338

2025-01-08T17:24:31.461Z,1736357071.461 [DAT](INFO): Ping request sent.
2025-01-08T17:24:31.461Z,1736357071.461 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:24:31.461Z,1736357071.461 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:24:31.463Z,1736357071.463 [DAT](INFO): direction in FSK: [0.902669,-0.034677,-0.428935]
2025-01-08T17:24:31.478Z,1736357071.478 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:31.479Z,1736357071.479 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:31.482Z,1736357071.482 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:31.482Z,1736357071.482 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:31.632Z,1736357071.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:31.671Z,1736357071.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 342.899994 m,
      deltaT: 4.035330 s,
      deltaX: -2.800018 m,
      approachRate: -0.693876 m/s,
      rangeRepo size: 4

2025-01-08T17:24:31.684Z,1736357071.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 342.899994 m,
      bearing: 270.092120 deg,
      lat: 36.903957 deg,
      lon: -122.119262 deg,
      deltaT: 4.035330 s,
      deltaX: -2.800018 m,
      approachRate: -0.693876 m/s,
      posRepo size: 4

2025-01-08T17:24:31.685Z,1736357071.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.90 m.
2025-01-08T17:24:31.693Z,1736357071.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.899994 m,
      nav range: 327.514313 m,
      bearing: 267.426829 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002798 deg/s,
      cmd heading: 267.928650 deg,
      new cmd heading: 267.925580 deg.

2025-01-08T17:24:31.701Z,1736357071.701 [DAT](INFO): DAT read: TxSync time:17:24:30.6331

2025-01-08T17:24:31.703Z,1736357071.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676184 target range: 342.899994 and range: 342.90 m.
2025-01-08T17:24:32.037Z,1736357072.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:32.046Z,1736357072.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.90 m.
2025-01-08T17:24:32.049Z,1736357072.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.899994 m,
      nav range: 327.268555 m,
      bearing: 267.424862 deg,
      approach rate: -0.655570 m/s,
      LOS rate: -0.005251 deg/s,
      cmd heading: 267.925590 deg,
      new cmd heading: 267.919685 deg.

2025-01-08T17:24:32.050Z,1736357072.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676081 target range: 342.899994 and range: 342.90 m.
2025-01-08T17:24:32.436Z,1736357072.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:32.444Z,1736357072.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.90 m.
2025-01-08T17:24:32.448Z,1736357072.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.899994 m,
      nav range: 327.026154 m,
      bearing: 267.422920 deg,
      approach rate: -0.607650 m/s,
      LOS rate: -0.004873 deg/s,
      cmd heading: 267.919689 deg,
      new cmd heading: 267.913857 deg.

2025-01-08T17:24:32.449Z,1736357072.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675979 target range: 342.899994 and range: 342.90 m.
2025-01-08T17:24:32.817Z,1736357072.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:32.824Z,1736357072.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:32.826Z,1736357072.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.90 m.
2025-01-08T17:24:32.829Z,1736357072.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.899994 m,
      nav range: 326.794861 m,
      bearing: 267.421096 deg,
      approach rate: -0.606145 m/s,
      LOS rate: -0.004782 deg/s,
      cmd heading: 267.913870 deg,
      new cmd heading: 267.908395 deg.

2025-01-08T17:24:32.830Z,1736357072.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675884 target range: 342.899994 and range: 342.90 m.
2025-01-08T17:24:32.960Z,1736357072.960 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:24:32.960Z,1736357072.960 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:24:32.961Z,1736357072.961 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:24:33.213Z,1736357073.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752113
2025-01-08T17:24:33.253Z,1736357073.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:33.262Z,1736357073.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.90 m.
2025-01-08T17:24:33.266Z,1736357073.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.899994 m,
      nav range: 326.515350 m,
      bearing: 267.418135 deg,
      approach rate: -0.641072 m/s,
      LOS rate: -0.006796 deg/s,
      cmd heading: 267.908406 deg,
      new cmd heading: 267.899516 deg.

2025-01-08T17:24:33.284Z,1736357073.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675729 target range: 342.899994 and range: 342.90 m.
2025-01-08T17:24:33.464Z,1736357073.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003317
2025-01-08T17:24:33.623Z,1736357073.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:33.632Z,1736357073.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.90 m.
2025-01-08T17:24:33.635Z,1736357073.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.899994 m,
      nav range: 326.277893 m,
      bearing: 267.415574 deg,
      approach rate: -0.640380 m/s,
      LOS rate: -0.006912 deg/s,
      cmd heading: 267.899526 deg,
      new cmd heading: 267.891837 deg.

2025-01-08T17:24:33.636Z,1736357073.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675595 target range: 342.899994 and range: 342.90 m.
2025-01-08T17:24:33.718Z,1736357073.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256643
2025-01-08T17:24:33.970Z,1736357073.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509207
2025-01-08T17:24:34.064Z,1736357074.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:34.074Z,1736357074.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.90 m.
2025-01-08T17:24:34.077Z,1736357074.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.899994 m,
      nav range: 325.977661 m,
      bearing: 267.410719 deg,
      approach rate: -0.679690 m/s,
      LOS rate: -0.011002 deg/s,
      cmd heading: 267.891849 deg,
      new cmd heading: 267.877270 deg.

2025-01-08T17:24:34.078Z,1736357074.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675340 target range: 342.899994 and range: 342.90 m.
2025-01-08T17:24:34.220Z,1736357074.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759321
2025-01-08T17:24:34.454Z,1736357074.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:34.473Z,1736357074.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011647
2025-01-08T17:24:34.482Z,1736357074.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.90 m.
2025-01-08T17:24:34.496Z,1736357074.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.899994 m,
      nav range: 325.711823 m,
      bearing: 267.406400 deg,
      approach rate: -0.669300 m/s,
      LOS rate: -0.010882 deg/s,
      cmd heading: 267.877260 deg,
      new cmd heading: 267.864293 deg.

2025-01-08T17:24:34.498Z,1736357074.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675114 target range: 342.899994 and range: 342.90 m.
2025-01-08T17:24:34.724Z,1736357074.724 [DAT](INFO): DAT read: Rx Time:17:24:33.4931

2025-01-08T17:24:34.725Z,1736357074.725 [DAT](INFO): Rx dataTimestamp_ set to:1736357074.724474
2025-01-08T17:24:34.725Z,1736357074.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264456
2025-01-08T17:24:34.838Z,1736357074.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:34.844Z,1736357074.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:34.848Z,1736357074.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 342.90 m.
2025-01-08T17:24:34.850Z,1736357074.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 342.899994 m,
      nav range: 325.450165 m,
      bearing: 267.402206 deg,
      approach rate: -0.696019 m/s,
      LOS rate: -0.011167 deg/s,
      cmd heading: 267.864282 deg,
      new cmd heading: 267.851688 deg.

2025-01-08T17:24:34.852Z,1736357074.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674894 target range: 342.899994 and range: 342.90 m.
2025-01-08T17:24:34.977Z,1736357074.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515678
2025-01-08T17:24:35.242Z,1736357075.242 [DAT](INFO): DAT read: 17:24:33.4931 LVL= 21152, 26897, 21426, 30067, AGC= 66, IDX= 410, 0.17,-2.685, 2.308,-2.665, 2.857, PHS= 0.830,-0.501, 0.759, RAW= 147.3, -16.5, CAL= 153.4, -24.2, ROT= 356.6,  24.2

2025-01-08T17:24:35.243Z,1736357075.243 [DAT](INFO): got valid direction response:
 17:24:33.4931 LVL= 21152, 26897, 21426, 30067, AGC= 66, IDX= 410, 0.17,-2.685, 2.308,-2.665, 2.857, PHS= 0.830,-0.501, 0.759, RAW= 147.3, -16.5, CAL= 153.4, -24.2, ROT= 356.6,  24.2

2025-01-08T17:24:35.244Z,1736357075.244 [DAT](INFO): DAT read: Bearing 356.6,  24.2 (Local)

2025-01-08T17:24:35.245Z,1736357075.245 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.6,  24.2 (Local)

2025-01-08T17:24:35.247Z,1736357075.247 [DAT](INFO): DAT read: Range 10 to 50 : 341.3 m  (Round-trip  455.1 ms) speed  0.8 m/s

2025-01-08T17:24:35.248Z,1736357075.248 [DAT](INFO): DAT read: user:116>

2025-01-08T17:24:35.249Z,1736357075.249 [DAT](INFO): DAT read: Tx time:17:24:34.5838

2025-01-08T17:24:35.249Z,1736357075.249 [DAT](INFO): Ping request sent.
2025-01-08T17:24:35.249Z,1736357075.249 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:24:35.250Z,1736357075.250 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:24:35.250Z,1736357075.250 [DAT](INFO): direction in FSK: [0.910515,-0.054095,-0.409923]
2025-01-08T17:24:35.251Z,1736357075.251 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:35.251Z,1736357075.251 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:35.254Z,1736357075.254 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:35.254Z,1736357075.254 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:35.481Z,1736357075.481 [DAT](INFO): DAT read: TxSync time:17:24:34.5831

2025-01-08T17:24:35.498Z,1736357075.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:35.535Z,1736357075.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 341.299988 m,
      deltaT: 3.781382 s,
      deltaX: -1.600006 m,
      approachRate: -0.423127 m/s,
      rangeRepo size: 4

2025-01-08T17:24:35.546Z,1736357075.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 341.299988 m,
      bearing: 268.439826 deg,
      lat: 36.904012 deg,
      lon: -122.119253 deg,
      deltaT: 3.781382 s,
      deltaX: -1.600006 m,
      approachRate: -0.423127 m/s,
      posRepo size: 4

2025-01-08T17:24:35.547Z,1736357075.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 341.30 m.
2025-01-08T17:24:35.554Z,1736357075.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 341.299988 m,
      nav range: 323.978577 m,
      bearing: 268.469421 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011167 deg/s,
      cmd heading: 267.851688 deg,
      new cmd heading: 267.828675 deg.

2025-01-08T17:24:35.555Z,1736357075.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674492 target range: 341.299988 and range: 341.30 m.
2025-01-08T17:24:35.839Z,1736357075.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:35.868Z,1736357075.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 341.30 m.
2025-01-08T17:24:35.875Z,1736357075.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 341.299988 m,
      nav range: 323.730194 m,
      bearing: 268.465932 deg,
      approach rate: -0.743086 m/s,
      LOS rate: -0.010446 deg/s,
      cmd heading: 267.828684 deg,
      new cmd heading: 267.818209 deg.

2025-01-08T17:24:35.876Z,1736357075.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674310 target range: 341.299988 and range: 341.30 m.
2025-01-08T17:24:36.274Z,1736357076.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:36.286Z,1736357076.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 341.30 m.
2025-01-08T17:24:36.289Z,1736357076.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 341.299988 m,
      nav range: 323.398834 m,
      bearing: 268.460013 deg,
      approach rate: -0.793608 m/s,
      LOS rate: -0.014189 deg/s,
      cmd heading: 267.818220 deg,
      new cmd heading: 267.800446 deg.

2025-01-08T17:24:36.290Z,1736357076.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673999 target range: 341.299988 and range: 341.30 m.
2025-01-08T17:24:36.651Z,1736357076.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:36.660Z,1736357076.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 341.30 m.
2025-01-08T17:24:36.664Z,1736357076.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 341.299988 m,
      nav range: 323.111755 m,
      bearing: 268.455226 deg,
      approach rate: -0.768760 m/s,
      LOS rate: -0.012832 deg/s,
      cmd heading: 267.800434 deg,
      new cmd heading: 267.786059 deg.

2025-01-08T17:24:36.665Z,1736357076.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673748 target range: 341.299988 and range: 341.30 m.
2025-01-08T17:24:36.670Z,1736357076.670 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T17:14:36.5Z
2025-01-08T17:24:36.670Z,1736357076.670 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-01-08T17:24:36.670Z,1736357076.670 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-01-08T17:24:36.670Z,1736357076.670 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-01-08T17:24:36.670Z,1736357076.670 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-01-08T17:24:36.671Z,1736357076.671 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-01-08T17:24:37.075Z,1736357077.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:37.083Z,1736357077.083 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:37.109Z,1736357077.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 341.30 m.
2025-01-08T17:24:37.116Z,1736357077.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 341.299988 m,
      nav range: 322.785950 m,
      bearing: 268.448802 deg,
      approach rate: -0.725121 m/s,
      LOS rate: -0.014312 deg/s,
      cmd heading: 267.786063 deg,
      new cmd heading: 267.766771 deg.

2025-01-08T17:24:37.117Z,1736357077.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673412 target range: 341.299988 and range: 341.30 m.
2025-01-08T17:24:37.125Z,1736357077.125 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-01-08T17:24:37.125Z,1736357077.125 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-01-08T17:24:37.125Z,1736357077.125 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-01-08T17:24:37.125Z,1736357077.125 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-01-08T17:24:37.125Z,1736357077.125 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-01-08T17:24:37.244Z,1736357077.244 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:24:37.244Z,1736357077.244 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:24:37.244Z,1736357077.244 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:24:37.499Z,1736357077.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250139
2025-01-08T17:24:37.658Z,1736357077.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:37.668Z,1736357077.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 341.30 m.
2025-01-08T17:24:37.671Z,1736357077.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 341.299988 m,
      nav range: 322.336792 m,
      bearing: 268.440002 deg,
      approach rate: -0.803936 m/s,
      LOS rate: -0.015771 deg/s,
      cmd heading: 267.766775 deg,
      new cmd heading: 267.740340 deg.

2025-01-08T17:24:37.689Z,1736357077.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.672950 target range: 341.299988 and range: 341.30 m.
2025-01-08T17:24:37.749Z,1736357077.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499254
2025-01-08T17:24:38.004Z,1736357078.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753586
2025-01-08T17:24:38.087Z,1736357078.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:38.118Z,1736357078.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 341.30 m.
2025-01-08T17:24:38.124Z,1736357078.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 341.299988 m,
      nav range: 322.007507 m,
      bearing: 268.434720 deg,
      approach rate: -0.769851 m/s,
      LOS rate: -0.012362 deg/s,
      cmd heading: 267.740328 deg,
      new cmd heading: 267.724466 deg.

2025-01-08T17:24:38.125Z,1736357078.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.672673 target range: 341.299988 and range: 341.30 m.
2025-01-08T17:24:38.252Z,1736357078.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002977
2025-01-08T17:24:38.472Z,1736357078.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:38.481Z,1736357078.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 341.30 m.
2025-01-08T17:24:38.484Z,1736357078.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 341.299988 m,
      nav range: 321.711212 m,
      bearing: 268.430008 deg,
      approach rate: -0.768646 m/s,
      LOS rate: -0.012234 deg/s,
      cmd heading: 267.724455 deg,
      new cmd heading: 267.710307 deg.

2025-01-08T17:24:38.485Z,1736357078.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.672426 target range: 341.299988 and range: 341.30 m.
2025-01-08T17:24:38.506Z,1736357078.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256513
2025-01-08T17:24:38.757Z,1736357078.757 [DAT](INFO): DAT read: Rx Time:17:24:37.4390

2025-01-08T17:24:38.757Z,1736357078.757 [DAT](INFO): Rx dataTimestamp_ set to:1736357078.756900
2025-01-08T17:24:38.758Z,1736357078.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508860
2025-01-08T17:24:38.868Z,1736357078.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:38.877Z,1736357078.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 341.30 m.
2025-01-08T17:24:38.881Z,1736357078.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 341.299988 m,
      nav range: 321.406830 m,
      bearing: 268.425247 deg,
      approach rate: -0.768198 m/s,
      LOS rate: -0.012028 deg/s,
      cmd heading: 267.710303 deg,
      new cmd heading: 267.696005 deg.

2025-01-08T17:24:38.882Z,1736357078.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.672177 target range: 341.299988 and range: 341.30 m.
2025-01-08T17:24:39.013Z,1736357079.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762506
2025-01-08T17:24:39.267Z,1736357079.267 [DAT](INFO): DAT read: 17:24:37.4390 LVL= 20064, 25137, 20978, 30067, AGC= 64, IDX= 407, 0.09, 1.909, 0.288, 1.968, 1.246, PHS= 0.751,-0.912, 0.718, RAW= 149.0,  -6.8, CAL= 154.5, -15.2, ROT= 355.5,  15.2

2025-01-08T17:24:39.268Z,1736357079.268 [DAT](INFO): got valid direction response:
 17:24:37.4390 LVL= 20064, 25137, 20978, 30067, AGC= 64, IDX= 407, 0.09, 1.909, 0.288, 1.968, 1.246, PHS= 0.751,-0.912, 0.718, RAW= 149.0,  -6.8, CAL= 154.5, -15.2, ROT= 355.5,  15.2

2025-01-08T17:24:39.269Z,1736357079.269 [DAT](INFO): DAT read: Bearing 355.5,  15.2 (Local)

2025-01-08T17:24:39.269Z,1736357079.269 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.5,  15.2 (Local)

2025-01-08T17:24:39.271Z,1736357079.271 [DAT](INFO): DAT read: Range 10 to 50 : 338.2 m  (Round-trip  451.0 ms) speed  0.5 m/s

2025-01-08T17:24:39.271Z,1736357079.271 [DAT](INFO): DAT read: user:117>

2025-01-08T17:24:39.272Z,1736357079.272 [DAT](INFO): DAT read: Tx time:17:24:38.5338

2025-01-08T17:24:39.272Z,1736357079.272 [DAT](INFO): Ping request sent.
2025-01-08T17:24:39.273Z,1736357079.273 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:24:39.273Z,1736357079.273 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:24:39.274Z,1736357079.274 [DAT](INFO): direction in FSK: [0.962042,-0.075714,-0.262189]
2025-01-08T17:24:39.274Z,1736357079.274 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:39.274Z,1736357079.274 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:39.278Z,1736357079.278 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:39.286Z,1736357079.286 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:39.390Z,1736357079.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:39.444Z,1736357079.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 338.200012 m,
      deltaT: 4.030446 s,
      deltaX: -3.099976 m,
      approachRate: -0.769140 m/s,
      rangeRepo size: 4

2025-01-08T17:24:39.446Z,1736357079.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 338.200012 m,
      bearing: 265.073006 deg,
      lat: 36.904012 deg,
      lon: -122.119262 deg,
      deltaT: 4.030446 s,
      deltaX: -3.099976 m,
      approachRate: -0.769140 m/s,
      posRepo size: 4

2025-01-08T17:24:39.447Z,1736357079.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.20 m.
2025-01-08T17:24:39.455Z,1736357079.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.200012 m,
      nav range: 321.776703 m,
      bearing: 268.424079 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012028 deg/s,
      cmd heading: 267.696014 deg,
      new cmd heading: 267.675754 deg.

2025-01-08T17:24:39.460Z,1736357079.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671823 target range: 338.200012 and range: 338.20 m.
2025-01-08T17:24:39.515Z,1736357079.515 [DAT](INFO): DAT read: TxSync time:17:24:38.5331

2025-01-08T17:24:39.758Z,1736357079.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:39.767Z,1736357079.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:39.769Z,1736357079.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.20 m.
2025-01-08T17:24:39.772Z,1736357079.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.200012 m,
      nav range: 321.494080 m,
      bearing: 268.420627 deg,
      approach rate: -0.853682 m/s,
      LOS rate: -0.010438 deg/s,
      cmd heading: 267.675742 deg,
      new cmd heading: 267.665375 deg.

2025-01-08T17:24:39.773Z,1736357079.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671642 target range: 338.200012 and range: 338.20 m.
2025-01-08T17:24:40.019Z,1736357080.019 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:24:40.019Z,1736357080.019 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:24:40.021Z,1736357080.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:24:40.200Z,1736357080.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:40.209Z,1736357080.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.20 m.
2025-01-08T17:24:40.213Z,1736357080.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.200012 m,
      nav range: 321.166840 m,
      bearing: 268.417590 deg,
      approach rate: -0.744987 m/s,
      LOS rate: -0.006919 deg/s,
      cmd heading: 267.665387 deg,
      new cmd heading: 267.656269 deg.

2025-01-08T17:24:40.214Z,1736357080.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671483 target range: 338.200012 and range: 338.20 m.
2025-01-08T17:24:40.269Z,1736357080.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996485
2025-01-08T17:24:40.520Z,1736357080.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247718
2025-01-08T17:24:40.559Z,1736357080.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:40.585Z,1736357080.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.20 m.
2025-01-08T17:24:40.591Z,1736357080.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.200012 m,
      nav range: 320.900970 m,
      bearing: 268.415176 deg,
      approach rate: -0.707357 m/s,
      LOS rate: -0.006429 deg/s,
      cmd heading: 267.656262 deg,
      new cmd heading: 267.649013 deg.

2025-01-08T17:24:40.592Z,1736357080.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671357 target range: 338.200012 and range: 338.20 m.
2025-01-08T17:24:40.772Z,1736357080.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499733
2025-01-08T17:24:40.977Z,1736357080.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:40.987Z,1736357080.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.20 m.
2025-01-08T17:24:40.996Z,1736357080.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.200012 m,
      nav range: 320.590912 m,
      bearing: 268.412377 deg,
      approach rate: -0.771282 m/s,
      LOS rate: -0.006969 deg/s,
      cmd heading: 267.649022 deg,
      new cmd heading: 267.640618 deg.

2025-01-08T17:24:41.000Z,1736357081.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671210 target range: 338.200012 and range: 338.20 m.
2025-01-08T17:24:41.028Z,1736357081.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754248
2025-01-08T17:24:41.277Z,1736357081.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004634
2025-01-08T17:24:41.411Z,1736357081.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:41.419Z,1736357081.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.20 m.
2025-01-08T17:24:41.422Z,1736357081.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.200012 m,
      nav range: 320.283264 m,
      bearing: 268.410760 deg,
      approach rate: -0.710956 m/s,
      LOS rate: -0.003741 deg/s,
      cmd heading: 267.640607 deg,
      new cmd heading: 267.635750 deg.

2025-01-08T17:24:41.423Z,1736357081.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671125 target range: 338.200012 and range: 338.20 m.
2025-01-08T17:24:41.528Z,1736357081.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255883
2025-01-08T17:24:41.770Z,1736357081.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:41.780Z,1736357081.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507720
2025-01-08T17:24:41.801Z,1736357081.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:41.807Z,1736357081.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.20 m.
2025-01-08T17:24:41.818Z,1736357081.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.200012 m,
      nav range: 320.028625 m,
      bearing: 268.409206 deg,
      approach rate: -0.663334 m/s,
      LOS rate: -0.004051 deg/s,
      cmd heading: 267.635744 deg,
      new cmd heading: 267.631079 deg.

2025-01-08T17:24:41.819Z,1736357081.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671043 target range: 338.200012 and range: 338.20 m.
2025-01-08T17:24:42.037Z,1736357082.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763512
2025-01-08T17:24:42.204Z,1736357082.204 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,     -389.02,     +1651 -100.27,  20.00,524.74
2025-01-08T17:24:42.211Z,1736357082.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:24:42.212Z,1736357082.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:42.221Z,1736357082.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.20 m.
2025-01-08T17:24:42.252Z,1736357082.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.200012 m,
      nav range: 319.715851 m,
      bearing: 268.407294 deg,
      approach rate: -0.748827 m/s,
      LOS rate: -0.004583 deg/s,
      cmd heading: 267.631073 deg,
      new cmd heading: 267.625330 deg.

2025-01-08T17:24:42.253Z,1736357082.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670943 target range: 338.200012 and range: 338.20 m.
2025-01-08T17:24:42.285Z,1736357082.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011995
2025-01-08T17:24:42.536Z,1736357082.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263665
2025-01-08T17:24:42.593Z,1736357082.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:24:42.593Z,1736357082.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:42.602Z,1736357082.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.20 m.
2025-01-08T17:24:42.606Z,1736357082.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.200012 m,
      nav range: 319.444977 m,
      bearing: 268.405499 deg,
      approach rate: -0.710148 m/s,
      LOS rate: -0.004708 deg/s,
      cmd heading: 267.625335 deg,
      new cmd heading: 267.619948 deg.

2025-01-08T17:24:42.607Z,1736357082.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670849 target range: 338.200012 and range: 338.20 m.
2025-01-08T17:24:42.790Z,1736357082.790 [DAT](INFO): DAT read: Rx Time:17:24:41.3872

2025-01-08T17:24:42.790Z,1736357082.790 [DAT](INFO): Rx dataTimestamp_ set to:1736357082.789775
2025-01-08T17:24:42.791Z,1736357082.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518065
2025-01-08T17:24:42.987Z,1736357082.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-08T17:24:42.987Z,1736357082.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:42.996Z,1736357082.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 338.20 m.
2025-01-08T17:24:42.999Z,1736357082.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 338.200012 m,
      nav range: 319.165375 m,
      bearing: 268.403592 deg,
      approach rate: -0.709299 m/s,
      LOS rate: -0.004843 deg/s,
      cmd heading: 267.619953 deg,
      new cmd heading: 267.614226 deg.

2025-01-08T17:24:43.004Z,1736357083.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670749 target range: 338.200012 and range: 338.20 m.
2025-01-08T17:24:43.045Z,1736357083.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771252
2025-01-08T17:24:43.299Z,1736357083.299 [DAT](INFO): DAT read: 17:24:41.3872 LVL= 22272, 27825, 23266, 32755, AGC= 66, IDX= 415,-0.18, 2.900, 1.644, 2.941, 2.311, PHS= 0.677,-0.620, 0.628, RAW= 148.1, -10.8, CAL= 154.9, -19.0, ROT= 355.1,  19.0

2025-01-08T17:24:43.300Z,1736357083.300 [DAT](INFO): got valid direction response:
 17:24:41.3872 LVL= 22272, 27825, 23266, 32755, AGC= 66, IDX= 415,-0.18, 2.900, 1.644, 2.941, 2.311, PHS= 0.677,-0.620, 0.628, RAW= 148.1, -10.8, CAL= 154.9, -19.0, ROT= 355.1,  19.0

2025-01-08T17:24:43.301Z,1736357083.301 [DAT](INFO): DAT read: Bearing 355.1,  19.0 (Local)

2025-01-08T17:24:43.301Z,1736357083.301 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,  19.0 (Local)

2025-01-08T17:24:43.303Z,1736357083.303 [DAT](INFO): DAT read: Range 10 to 50 : 336.8 m  (Round-trip  449.1 ms) speed  1.0 m/s

2025-01-08T17:24:43.304Z,1736357083.304 [DAT](INFO): DAT read: user:118>

2025-01-08T17:24:43.304Z,1736357083.304 [DAT](INFO): DAT read: Tx time:17:24:42.4839

2025-01-08T17:24:43.305Z,1736357083.305 [DAT](INFO): Ping request sent.
2025-01-08T17:24:43.305Z,1736357083.305 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:24:43.305Z,1736357083.305 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:24:43.306Z,1736357083.306 [DAT](INFO): direction in FSK: [0.942063,-0.080763,-0.325568]
2025-01-08T17:24:43.306Z,1736357083.306 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:43.307Z,1736357083.307 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:43.310Z,1736357083.310 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:43.310Z,1736357083.310 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:43.487Z,1736357083.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:43.537Z,1736357083.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 336.799988 m,
      deltaT: 4.032079 s,
      deltaX: -1.400024 m,
      approachRate: -0.347221 m/s,
      rangeRepo size: 4

2025-01-08T17:24:43.545Z,1736357083.545 [DAT](INFO): DAT read: TxSync time:17:24:42.4832

2025-01-08T17:24:43.552Z,1736357083.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 336.799988 m,
      bearing: 265.450223 deg,
      lat: 36.903957 deg,
      lon: -122.119262 deg,
      deltaT: 4.032079 s,
      deltaX: -1.400024 m,
      approachRate: -0.347221 m/s,
      posRepo size: 4

2025-01-08T17:24:43.553Z,1736357083.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.80 m.
2025-01-08T17:24:43.560Z,1736357083.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.799988 m,
      nav range: 319.063385 m,
      bearing: 267.303980 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004843 deg/s,
      cmd heading: 267.614216 deg,
      new cmd heading: 267.606451 deg.

2025-01-08T17:24:43.561Z,1736357083.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670614 target range: 336.799988 and range: 336.80 m.
2025-01-08T17:24:43.848Z,1736357083.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:43.855Z,1736357083.855 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:43.857Z,1736357083.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.80 m.
2025-01-08T17:24:43.861Z,1736357083.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.799988 m,
      nav range: 318.823700 m,
      bearing: 267.302895 deg,
      approach rate: -0.734035 m/s,
      LOS rate: -0.003324 deg/s,
      cmd heading: 267.606457 deg,
      new cmd heading: 267.603201 deg.

2025-01-08T17:24:43.863Z,1736357083.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670557 target range: 336.799988 and range: 336.80 m.
2025-01-08T17:24:44.049Z,1736357084.049 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:24:44.049Z,1736357084.049 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:24:44.050Z,1736357084.050 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:24:44.269Z,1736357084.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:44.279Z,1736357084.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.80 m.
2025-01-08T17:24:44.282Z,1736357084.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.799988 m,
      nav range: 318.552094 m,
      bearing: 267.301047 deg,
      approach rate: -0.645542 m/s,
      LOS rate: -0.004397 deg/s,
      cmd heading: 267.603205 deg,
      new cmd heading: 267.597655 deg.

2025-01-08T17:24:44.283Z,1736357084.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670460 target range: 336.799988 and range: 336.80 m.
2025-01-08T17:24:44.300Z,1736357084.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995412
2025-01-08T17:24:44.553Z,1736357084.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248237
2025-01-08T17:24:44.669Z,1736357084.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:44.705Z,1736357084.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.80 m.
2025-01-08T17:24:44.714Z,1736357084.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.799988 m,
      nav range: 318.293823 m,
      bearing: 267.299259 deg,
      approach rate: -0.605947 m/s,
      LOS rate: -0.004198 deg/s,
      cmd heading: 267.597659 deg,
      new cmd heading: 267.592291 deg.

2025-01-08T17:24:44.720Z,1736357084.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670367 target range: 336.799988 and range: 336.80 m.
2025-01-08T17:24:44.806Z,1736357084.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500996
2025-01-08T17:24:45.060Z,1736357085.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754827
2025-01-08T17:24:45.132Z,1736357085.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:45.140Z,1736357085.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.80 m.
2025-01-08T17:24:45.155Z,1736357085.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.799988 m,
      nav range: 317.995239 m,
      bearing: 267.297016 deg,
      approach rate: -0.684736 m/s,
      LOS rate: -0.005150 deg/s,
      cmd heading: 267.592304 deg,
      new cmd heading: 267.585568 deg.

2025-01-08T17:24:45.156Z,1736357085.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670249 target range: 336.799988 and range: 336.80 m.
2025-01-08T17:24:45.308Z,1736357085.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003669
2025-01-08T17:24:45.560Z,1736357085.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255558
2025-01-08T17:24:45.624Z,1736357085.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:45.650Z,1736357085.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.80 m.
2025-01-08T17:24:45.657Z,1736357085.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.799988 m,
      nav range: 317.680237 m,
      bearing: 267.294311 deg,
      approach rate: -0.617714 m/s,
      LOS rate: -0.005309 deg/s,
      cmd heading: 267.585556 deg,
      new cmd heading: 267.577435 deg.

2025-01-08T17:24:45.658Z,1736357085.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670107 target range: 336.799988 and range: 336.80 m.
2025-01-08T17:24:45.813Z,1736357085.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508358
2025-01-08T17:24:46.008Z,1736357086.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:46.016Z,1736357086.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:46.018Z,1736357086.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.80 m.
2025-01-08T17:24:46.021Z,1736357086.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.799988 m,
      nav range: 317.434662 m,
      bearing: 267.292097 deg,
      approach rate: -0.668055 m/s,
      LOS rate: -0.006028 deg/s,
      cmd heading: 267.577442 deg,
      new cmd heading: 267.570794 deg.

2025-01-08T17:24:46.022Z,1736357086.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669991 target range: 336.799988 and range: 336.80 m.
2025-01-08T17:24:46.067Z,1736357086.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761881
2025-01-08T17:24:46.316Z,1736357086.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011431
2025-01-08T17:24:46.460Z,1736357086.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:46.484Z,1736357086.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.80 m.
2025-01-08T17:24:46.491Z,1736357086.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.799988 m,
      nav range: 317.147339 m,
      bearing: 267.288326 deg,
      approach rate: -0.615938 m/s,
      LOS rate: -0.008090 deg/s,
      cmd heading: 267.570803 deg,
      new cmd heading: 267.559481 deg.

2025-01-08T17:24:46.492Z,1736357086.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669794 target range: 336.799988 and range: 336.80 m.
2025-01-08T17:24:46.570Z,1736357086.570 [DAT](INFO): DAT read: Rx Time:17:24:45.3327

2025-01-08T17:24:46.570Z,1736357086.570 [DAT](INFO): Rx dataTimestamp_ set to:1736357086.570027
2025-01-08T17:24:46.571Z,1736357086.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266331
2025-01-08T17:24:46.820Z,1736357086.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515628
2025-01-08T17:24:46.844Z,1736357086.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:46.854Z,1736357086.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.80 m.
2025-01-08T17:24:46.860Z,1736357086.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 336.799988 m,
      nav range: 316.903381 m,
      bearing: 267.285035 deg,
      approach rate: -0.661006 m/s,
      LOS rate: -0.008926 deg/s,
      cmd heading: 267.559492 deg,
      new cmd heading: 267.549610 deg.

2025-01-08T17:24:46.861Z,1736357086.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669621 target range: 336.799988 and range: 336.80 m.
2025-01-08T17:24:47.106Z,1736357087.106 [DAT](INFO): DAT read: 17:24:45.3327 LVL= 25584, 26993, 22514, 32755, AGC= 68, IDX= 386, 0.38, 0.462,-0.889, 0.423,-0.263, PHS= 0.813,-0.579, 0.683, RAW= 145.1, -13.7, CAL= 151.8, -22.1, ROT= 358.2,  22.1

2025-01-08T17:24:47.111Z,1736357087.111 [DAT](INFO): got valid direction response:
 17:24:45.3327 LVL= 25584, 26993, 22514, 32755, AGC= 68, IDX= 386, 0.38, 0.462,-0.889, 0.423,-0.263, PHS= 0.813,-0.579, 0.683, RAW= 145.1, -13.7, CAL= 151.8, -22.1, ROT= 358.2,  22.1

2025-01-08T17:24:47.115Z,1736357087.115 [DAT](INFO): DAT read: Bearing 358.2,  22.1 (Local)

2025-01-08T17:24:47.160Z,1736357087.160 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.2,  22.1 (Local)

2025-01-08T17:24:47.161Z,1736357087.161 [DAT](INFO): DAT read: Range 10 to 50 : 333.4 m  (Round-trip  444.6 ms) speed  0.6 m/s

2025-01-08T17:24:47.163Z,1736357087.163 [DAT](INFO): DAT read: user:119>

2025-01-08T17:24:47.170Z,1736357087.170 [DAT](INFO): DAT read: Tx time:17:24:46.4339

2025-01-08T17:24:47.170Z,1736357087.170 [DAT](INFO): Ping request sent.
2025-01-08T17:24:47.170Z,1736357087.170 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:24:47.170Z,1736357087.170 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:24:47.181Z,1736357087.181 [DAT](INFO): direction in FSK: [0.926071,-0.029103,-0.376224]
2025-01-08T17:24:47.181Z,1736357087.181 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:47.181Z,1736357087.181 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:47.189Z,1736357087.189 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:47.189Z,1736357087.189 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:47.313Z,1736357087.313 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:47.324Z,1736357087.324 [DAT](INFO): DAT read: TxSync time:17:24:46.4332

2025-01-08T17:24:47.347Z,1736357087.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 333.399994 m,
      deltaT: 3.782362 s,
      deltaX: -3.399994 m,
      approachRate: -0.898908 m/s,
      rangeRepo size: 4

2025-01-08T17:24:47.368Z,1736357087.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 333.399994 m,
      bearing: 269.603633 deg,
      lat: 36.904012 deg,
      lon: -122.119204 deg,
      deltaT: 3.782362 s,
      deltaX: -3.399994 m,
      approachRate: -0.898908 m/s,
      posRepo size: 4

2025-01-08T17:24:47.368Z,1736357087.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.40 m.
2025-01-08T17:24:47.375Z,1736357087.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.399994 m,
      nav range: 311.257690 m,
      bearing: 268.368996 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008926 deg/s,
      cmd heading: 267.549602 deg,
      new cmd heading: 267.536410 deg.

2025-01-08T17:24:47.377Z,1736357087.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669391 target range: 333.399994 and range: 333.40 m.
2025-01-08T17:24:47.664Z,1736357087.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:47.673Z,1736357087.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.40 m.
2025-01-08T17:24:47.699Z,1736357087.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.399994 m,
      nav range: 311.027161 m,
      bearing: 268.366369 deg,
      approach rate: -0.705608 m/s,
      LOS rate: -0.008045 deg/s,
      cmd heading: 267.536406 deg,
      new cmd heading: 267.528521 deg.

2025-01-08T17:24:47.701Z,1736357087.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669253 target range: 333.399994 and range: 333.40 m.
2025-01-08T17:24:48.067Z,1736357088.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:48.074Z,1736357088.074 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:48.076Z,1736357088.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.40 m.
2025-01-08T17:24:48.080Z,1736357088.080 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:24:48.080Z,1736357088.080 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:24:48.081Z,1736357088.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:24:48.084Z,1736357088.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.399994 m,
      nav range: 310.762512 m,
      bearing: 268.363555 deg,
      approach rate: -0.656502 m/s,
      LOS rate: -0.006988 deg/s,
      cmd heading: 267.528510 deg,
      new cmd heading: 267.520060 deg.

2025-01-08T17:24:48.085Z,1736357088.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669106 target range: 333.399994 and range: 333.40 m.
2025-01-08T17:24:48.332Z,1736357088.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.162368
2025-01-08T17:24:48.505Z,1736357088.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:48.529Z,1736357088.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.40 m.
2025-01-08T17:24:48.536Z,1736357088.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.399994 m,
      nav range: 310.468292 m,
      bearing: 268.358967 deg,
      approach rate: -0.649226 m/s,
      LOS rate: -0.010132 deg/s,
      cmd heading: 267.520068 deg,
      new cmd heading: 267.506293 deg.

2025-01-08T17:24:48.537Z,1736357088.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668866 target range: 333.399994 and range: 333.40 m.
2025-01-08T17:24:48.584Z,1736357088.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.414318
2025-01-08T17:24:48.837Z,1736357088.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.666546
2025-01-08T17:24:48.873Z,1736357088.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:48.883Z,1736357088.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.40 m.
2025-01-08T17:24:48.889Z,1736357088.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.399994 m,
      nav range: 310.220428 m,
      bearing: 268.355241 deg,
      approach rate: -0.700939 m/s,
      LOS rate: -0.010547 deg/s,
      cmd heading: 267.506299 deg,
      new cmd heading: 267.495110 deg.

2025-01-08T17:24:48.890Z,1736357088.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668670 target range: 333.399994 and range: 333.40 m.
2025-01-08T17:24:49.088Z,1736357089.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.918329
2025-01-08T17:24:49.305Z,1736357089.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:49.314Z,1736357089.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.40 m.
2025-01-08T17:24:49.317Z,1736357089.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.399994 m,
      nav range: 309.922546 m,
      bearing: 268.349087 deg,
      approach rate: -0.690996 m/s,
      LOS rate: -0.014288 deg/s,
      cmd heading: 267.495097 deg,
      new cmd heading: 267.476619 deg.

2025-01-08T17:24:49.318Z,1736357089.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668348 target range: 333.399994 and range: 333.40 m.
2025-01-08T17:24:49.358Z,1736357089.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.187652
2025-01-08T17:24:49.608Z,1736357089.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.438279
2025-01-08T17:24:49.691Z,1736357089.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:49.708Z,1736357089.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.40 m.
2025-01-08T17:24:49.714Z,1736357089.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.399994 m,
      nav range: 309.656555 m,
      bearing: 268.343555 deg,
      approach rate: -0.676272 m/s,
      LOS rate: -0.014079 deg/s,
      cmd heading: 267.476628 deg,
      new cmd heading: 267.460016 deg.

2025-01-08T17:24:49.716Z,1736357089.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668058 target range: 333.399994 and range: 333.40 m.
2025-01-08T17:24:49.860Z,1736357089.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.690323
2025-01-08T17:24:50.080Z,1736357090.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:50.087Z,1736357090.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:50.089Z,1736357090.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.40 m.
2025-01-08T17:24:50.092Z,1736357090.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.399994 m,
      nav range: 309.387238 m,
      bearing: 268.337965 deg,
      approach rate: -0.704979 m/s,
      LOS rate: -0.014644 deg/s,
      cmd heading: 267.460017 deg,
      new cmd heading: 267.443234 deg.

2025-01-08T17:24:50.093Z,1736357090.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667765 target range: 333.399994 and range: 333.40 m.
2025-01-08T17:24:50.116Z,1736357090.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.946361
2025-01-08T17:24:50.369Z,1736357090.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.198603
2025-01-08T17:24:50.536Z,1736357090.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:50.545Z,1736357090.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.40 m.
2025-01-08T17:24:50.548Z,1736357090.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.399994 m,
      nav range: 309.064301 m,
      bearing: 268.331625 deg,
      approach rate: -0.709156 m/s,
      LOS rate: -0.013938 deg/s,
      cmd heading: 267.443242 deg,
      new cmd heading: 267.424201 deg.

2025-01-08T17:24:50.549Z,1736357090.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667433 target range: 333.399994 and range: 333.40 m.
2025-01-08T17:24:50.621Z,1736357090.621 [DAT](INFO): DAT read: Rx Time:17:24:49.2793

2025-01-08T17:24:50.621Z,1736357090.621 [DAT](INFO): Rx dataTimestamp_ set to:1736357090.621042
2025-01-08T17:24:50.622Z,1736357090.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.451906
2025-01-08T17:24:50.872Z,1736357090.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.702352
2025-01-08T17:24:50.888Z,1736357090.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:50.897Z,1736357090.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.40 m.
2025-01-08T17:24:50.900Z,1736357090.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 333.399994 m,
      nav range: 308.814941 m,
      bearing: 268.326803 deg,
      approach rate: -0.706939 m/s,
      LOS rate: -0.013681 deg/s,
      cmd heading: 267.424200 deg,
      new cmd heading: 267.409723 deg.

2025-01-08T17:24:50.901Z,1736357090.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667180 target range: 333.399994 and range: 333.40 m.
2025-01-08T17:24:51.133Z,1736357091.133 [DAT](INFO): DAT read: 17:24:49.2793 LVL= 19952, 30417, 20082, 30675, AGC= 64, IDX= 402, 0.41,-0.759,-2.176,-0.775,-1.444, PHS= 0.773,-0.685, 0.666, RAW= 146.2, -10.7, CAL= 153.2, -19.3, ROT= 356.8,  19.3

2025-01-08T17:24:51.134Z,1736357091.134 [DAT](INFO): got valid direction response:
 17:24:49.2793 LVL= 19952, 30417, 20082, 30675, AGC= 64, IDX= 402, 0.41,-0.759,-2.176,-0.775,-1.444, PHS= 0.773,-0.685, 0.666, RAW= 146.2, -10.7, CAL= 153.2, -19.3, ROT= 356.8,  19.3

2025-01-08T17:24:51.135Z,1736357091.135 [DAT](INFO): DAT read: Bearing 356.8,  19.3 (Local)

2025-01-08T17:24:51.136Z,1736357091.136 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.8,  19.3 (Local)

2025-01-08T17:24:51.137Z,1736357091.137 [DAT](INFO): DAT read: Range 10 to 50 : 330.9 m  (Round-trip  441.3 ms) speed  0.5 m/s

2025-01-08T17:24:51.138Z,1736357091.138 [DAT](INFO): DAT read: user:120>

2025-01-08T17:24:51.151Z,1736357091.151 [DAT](INFO): DAT read: Tx time:17:24:50.3839

2025-01-08T17:24:51.153Z,1736357091.153 [DAT](INFO): Ping request sent.
2025-01-08T17:24:51.153Z,1736357091.153 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:24:51.154Z,1736357091.154 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:24:51.175Z,1736357091.175 [DAT](INFO): direction in FSK: [0.942329,-0.052685,-0.330514]
2025-01-08T17:24:51.177Z,1736357091.177 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:51.178Z,1736357091.178 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:51.249Z,1736357091.249 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:51.249Z,1736357091.249 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:51.377Z,1736357091.377 [DAT](INFO): DAT read: TxSync time:17:24:50.3833

2025-01-08T17:24:51.386Z,1736357091.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:51.432Z,1736357091.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 330.899994 m,
      deltaT: 4.051848 s,
      deltaX: -2.500000 m,
      approachRate: -0.617002 m/s,
      rangeRepo size: 4

2025-01-08T17:24:51.444Z,1736357091.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 330.899994 m,
      bearing: 267.183155 deg,
      lat: 36.903956 deg,
      lon: -122.119234 deg,
      deltaT: 4.051848 s,
      deltaX: -2.500000 m,
      approachRate: -0.617002 m/s,
      posRepo size: 4

2025-01-08T17:24:51.445Z,1736357091.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.90 m.
2025-01-08T17:24:51.452Z,1736357091.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.899994 m,
      nav range: 311.375702 m,
      bearing: 267.184208 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013681 deg/s,
      cmd heading: 267.409720 deg,
      new cmd heading: 267.387998 deg.

2025-01-08T17:24:51.453Z,1736357091.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666801 target range: 330.899994 and range: 330.90 m.
2025-01-08T17:24:51.750Z,1736357091.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:51.759Z,1736357091.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.90 m.
2025-01-08T17:24:51.762Z,1736357091.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.899994 m,
      nav range: 311.119415 m,
      bearing: 267.178805 deg,
      approach rate: -0.771880 m/s,
      LOS rate: -0.016286 deg/s,
      cmd heading: 267.388000 deg,
      new cmd heading: 267.371777 deg.

2025-01-08T17:24:51.764Z,1736357091.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666518 target range: 330.899994 and range: 330.90 m.
2025-01-08T17:24:52.168Z,1736357092.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:52.233Z,1736357092.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:52.241Z,1736357092.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.90 m.
2025-01-08T17:24:52.248Z,1736357092.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.899994 m,
      nav range: 310.824921 m,
      bearing: 267.172704 deg,
      approach rate: -0.610819 m/s,
      LOS rate: -0.012667 deg/s,
      cmd heading: 267.371771 deg,
      new cmd heading: 267.353449 deg.

2025-01-08T17:24:52.249Z,1736357092.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666198 target range: 330.899994 and range: 330.90 m.
2025-01-08T17:24:52.384Z,1736357092.384 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:24:52.384Z,1736357092.384 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:24:52.384Z,1736357092.384 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:24:52.594Z,1736357092.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:52.603Z,1736357092.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.90 m.
2025-01-08T17:24:52.606Z,1736357092.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.899994 m,
      nav range: 310.517120 m,
      bearing: 267.166399 deg,
      approach rate: -0.850528 m/s,
      LOS rate: -0.017439 deg/s,
      cmd heading: 267.353439 deg,
      new cmd heading: 267.334506 deg.

2025-01-08T17:24:52.607Z,1736357092.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665867 target range: 330.899994 and range: 330.90 m.
2025-01-08T17:24:52.636Z,1736357092.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483637
2025-01-08T17:24:52.893Z,1736357092.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739731
2025-01-08T17:24:52.965Z,1736357092.965 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:52.973Z,1736357092.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.90 m.
2025-01-08T17:24:52.976Z,1736357092.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.899994 m,
      nav range: 310.249725 m,
      bearing: 267.160900 deg,
      approach rate: -0.721919 m/s,
      LOS rate: -0.014860 deg/s,
      cmd heading: 267.334506 deg,
      new cmd heading: 267.317994 deg.

2025-01-08T17:24:52.977Z,1736357092.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665579 target range: 330.899994 and range: 330.90 m.
2025-01-08T17:24:53.140Z,1736357093.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987521
2025-01-08T17:24:53.392Z,1736357093.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239674
2025-01-08T17:24:53.396Z,1736357093.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:53.404Z,1736357093.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.90 m.
2025-01-08T17:24:53.407Z,1736357093.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.899994 m,
      nav range: 309.945160 m,
      bearing: 267.155948 deg,
      approach rate: -0.706100 m/s,
      LOS rate: -0.011492 deg/s,
      cmd heading: 267.318004 deg,
      new cmd heading: 267.303133 deg.

2025-01-08T17:24:53.408Z,1736357093.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665320 target range: 330.899994 and range: 330.90 m.
2025-01-08T17:24:53.645Z,1736357093.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492413
2025-01-08T17:24:53.788Z,1736357093.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:53.797Z,1736357093.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.90 m.
2025-01-08T17:24:53.800Z,1736357093.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.899994 m,
      nav range: 309.667969 m,
      bearing: 267.151432 deg,
      approach rate: -0.705172 m/s,
      LOS rate: -0.011496 deg/s,
      cmd heading: 267.303141 deg,
      new cmd heading: 267.289584 deg.

2025-01-08T17:24:53.801Z,1736357093.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665083 target range: 330.899994 and range: 330.90 m.
2025-01-08T17:24:53.897Z,1736357093.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744166
2025-01-08T17:24:54.148Z,1736357094.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995764
2025-01-08T17:24:54.174Z,1736357094.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:54.188Z,1736357094.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.90 m.
2025-01-08T17:24:54.191Z,1736357094.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.899994 m,
      nav range: 309.395294 m,
      bearing: 267.146844 deg,
      approach rate: -0.697583 m/s,
      LOS rate: -0.011750 deg/s,
      cmd heading: 267.289590 deg,
      new cmd heading: 267.275812 deg.

2025-01-08T17:24:54.192Z,1736357094.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664843 target range: 330.899994 and range: 330.90 m.
2025-01-08T17:24:54.400Z,1736357094.400 [DAT](INFO): DAT read: Rx Time:17:24:53.2267

2025-01-08T17:24:54.401Z,1736357094.401 [DAT](INFO): Rx dataTimestamp_ set to:1736357094.400553
2025-01-08T17:24:54.401Z,1736357094.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248739
2025-01-08T17:24:54.590Z,1736357094.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:54.597Z,1736357094.597 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:54.600Z,1736357094.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.90 m.
2025-01-08T17:24:54.602Z,1736357094.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.899994 m,
      nav range: 309.101410 m,
      bearing: 267.142511 deg,
      approach rate: -0.715050 m/s,
      LOS rate: -0.010553 deg/s,
      cmd heading: 267.275821 deg,
      new cmd heading: 267.262809 deg.

2025-01-08T17:24:54.620Z,1736357094.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664616 target range: 330.899994 and range: 330.90 m.
2025-01-08T17:24:54.656Z,1736357094.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503276
2025-01-08T17:24:54.904Z,1736357094.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751611
2025-01-08T17:24:55.001Z,1736357095.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:55.010Z,1736357095.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 330.90 m.
2025-01-08T17:24:55.013Z,1736357095.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 330.899994 m,
      nav range: 308.811493 m,
      bearing: 267.138182 deg,
      approach rate: -0.706233 m/s,
      LOS rate: -0.010555 deg/s,
      cmd heading: 267.262816 deg,
      new cmd heading: 267.249817 deg.

2025-01-08T17:24:55.014Z,1736357095.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664389 target range: 330.899994 and range: 330.90 m.
2025-01-08T17:24:55.163Z,1736357095.163 [DAT](INFO): DAT read: 17:24:53.2267 LVL= 25904, 32753, 23026, 32755, AGC= 67, IDX= 407, 0.15, 1.993, 0.678, 1.961, 1.224, PHS= 0.856,-0.499, 0.734, RAW= 145.3, -16.6, CAL= 151.4, -24.4, ROT= 358.6,  24.4

2025-01-08T17:24:55.176Z,1736357095.176 [DAT](INFO): got valid direction response:
 17:24:53.2267 LVL= 25904, 32753, 23026, 32755, AGC= 67, IDX= 407, 0.15, 1.993, 0.678, 1.961, 1.224, PHS= 0.856,-0.499, 0.734, RAW= 145.3, -16.6, CAL= 151.4, -24.4, ROT= 358.6,  24.4

2025-01-08T17:24:55.177Z,1736357095.177 [DAT](INFO): DAT read: Bearing 358.6,  24.4 (Local)

2025-01-08T17:24:55.177Z,1736357095.177 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.6,  24.4 (Local)

2025-01-08T17:24:55.180Z,1736357095.180 [DAT](INFO): DAT read: Range 10 to 50 : 328.8 m  (Round-trip  438.5 ms) speed  0.6 m/s

2025-01-08T17:24:55.184Z,1736357095.184 [DAT](INFO): DAT read: user:121>

2025-01-08T17:24:55.186Z,1736357095.186 [DAT](INFO): DAT read: Tx time:17:24:54.3340

2025-01-08T17:24:55.187Z,1736357095.187 [DAT](INFO): Ping request sent.
2025-01-08T17:24:55.187Z,1736357095.187 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:24:55.189Z,1736357095.189 [DAT](INFO): DAT read: TxSync time:17:24:54.3333

2025-01-08T17:24:55.192Z,1736357095.193 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:24:55.196Z,1736357095.196 [DAT](INFO): direction in FSK: [0.910412,-0.022250,-0.413104]
2025-01-08T17:24:55.196Z,1736357095.196 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:55.197Z,1736357095.197 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:55.259Z,1736357095.259 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:55.260Z,1736357095.260 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:55.405Z,1736357095.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:55.436Z,1736357095.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 328.799988 m,
      deltaT: 4.029836 s,
      deltaX: -2.100006 m,
      approachRate: -0.521115 m/s,
      rangeRepo size: 4

2025-01-08T17:24:55.438Z,1736357095.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 328.799988 m,
      bearing: 269.558474 deg,
      lat: 36.903956 deg,
      lon: -122.119234 deg,
      deltaT: 4.029836 s,
      deltaX: -2.100006 m,
      approachRate: -0.521115 m/s,
      posRepo size: 4

2025-01-08T17:24:55.439Z,1736357095.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m.
2025-01-08T17:24:55.452Z,1736357095.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.799988 m,
      nav range: 308.526917 m,
      bearing: 267.133924 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010555 deg/s,
      cmd heading: 267.249811 deg,
      new cmd heading: 267.236473 deg.

2025-01-08T17:24:55.453Z,1736357095.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664156 target range: 328.799988 and range: 328.80 m.
2025-01-08T17:24:55.870Z,1736357095.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:55.879Z,1736357095.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m.
2025-01-08T17:24:55.906Z,1736357095.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.799988 m,
      nav range: 308.198792 m,
      bearing: 267.129244 deg,
      approach rate: -0.734141 m/s,
      LOS rate: -0.010482 deg/s,
      cmd heading: 267.236479 deg,
      new cmd heading: 267.222424 deg.

2025-01-08T17:24:55.913Z,1736357095.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.663911 target range: 328.799988 and range: 328.80 m.
2025-01-08T17:24:56.340Z,1736357096.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-08T17:24:56.340Z,1736357096.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:56.350Z,1736357096.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m.
2025-01-08T17:24:56.353Z,1736357096.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.799988 m,
      nav range: 307.867035 m,
      bearing: 267.124482 deg,
      approach rate: -0.703300 m/s,
      LOS rate: -0.010106 deg/s,
      cmd heading: 267.222436 deg,
      new cmd heading: 267.208134 deg.

2025-01-08T17:24:56.354Z,1736357096.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.663662 target range: 328.799988 and range: 328.80 m.
2025-01-08T17:24:56.756Z,1736357096.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-08T17:24:56.757Z,1736357096.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:56.766Z,1736357096.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:56.769Z,1736357096.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m.
2025-01-08T17:24:56.772Z,1736357096.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.799988 m,
      nav range: 307.574829 m,
      bearing: 267.120230 deg,
      approach rate: -0.697543 m/s,
      LOS rate: -0.010160 deg/s,
      cmd heading: 267.208147 deg,
      new cmd heading: 267.195379 deg.

2025-01-08T17:24:56.773Z,1736357096.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.663439 target range: 328.799988 and range: 328.80 m.
2025-01-08T17:24:56.920Z,1736357096.920 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:24:56.920Z,1736357096.920 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:24:56.920Z,1736357096.920 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:24:57.148Z,1736357097.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s.
2025-01-08T17:24:57.148Z,1736357097.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:57.157Z,1736357097.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m.
2025-01-08T17:24:57.160Z,1736357097.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.799988 m,
      nav range: 307.297119 m,
      bearing: 267.116075 deg,
      approach rate: -0.715264 m/s,
      LOS rate: -0.010711 deg/s,
      cmd heading: 267.195388 deg,
      new cmd heading: 267.182912 deg.

2025-01-08T17:24:57.161Z,1736357097.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.663221 target range: 328.799988 and range: 328.80 m.
2025-01-08T17:24:57.172Z,1736357097.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985401
2025-01-08T17:24:57.425Z,1736357097.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238090
2025-01-08T17:24:57.578Z,1736357097.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:57.588Z,1736357097.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m.
2025-01-08T17:24:57.590Z,1736357097.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.799988 m,
      nav range: 307.004272 m,
      bearing: 267.113300 deg,
      approach rate: -0.680778 m/s,
      LOS rate: -0.006455 deg/s,
      cmd heading: 267.182903 deg,
      new cmd heading: 267.174572 deg.

2025-01-08T17:24:57.591Z,1736357097.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.663076 target range: 328.799988 and range: 328.80 m.
2025-01-08T17:24:57.677Z,1736357097.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490526
2025-01-08T17:24:57.929Z,1736357097.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742229
2025-01-08T17:24:57.968Z,1736357097.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:57.977Z,1736357097.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m.
2025-01-08T17:24:57.980Z,1736357097.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.799988 m,
      nav range: 306.738190 m,
      bearing: 267.110756 deg,
      approach rate: -0.683110 m/s,
      LOS rate: -0.006538 deg/s,
      cmd heading: 267.174570 deg,
      new cmd heading: 267.166929 deg.

2025-01-08T17:24:57.981Z,1736357097.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.662942 target range: 328.799988 and range: 328.80 m.
2025-01-08T17:24:57.984Z,1736357097.984 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:24:58.182Z,1736357098.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995324
2025-01-08T17:24:58.397Z,1736357098.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:58.406Z,1736357098.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m.
2025-01-08T17:24:58.409Z,1736357098.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.799988 m,
      nav range: 306.438293 m,
      bearing: 267.108087 deg,
      approach rate: -0.698836 m/s,
      LOS rate: -0.006224 deg/s,
      cmd heading: 267.166920 deg,
      new cmd heading: 267.158907 deg.

2025-01-08T17:24:58.410Z,1736357098.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.662803 target range: 328.799988 and range: 328.80 m.
2025-01-08T17:24:58.432Z,1736357098.432 [DAT](INFO): DAT read: Rx Time:17:24:57.1755

2025-01-08T17:24:58.433Z,1736357098.433 [DAT](INFO): Rx dataTimestamp_ set to:1736357098.432644
2025-01-08T17:24:58.433Z,1736357098.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246753
2025-01-08T17:24:58.685Z,1736357098.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497902
2025-01-08T17:24:58.766Z,1736357098.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:58.783Z,1736357098.783 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:24:58.785Z,1736357098.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.80 m.
2025-01-08T17:24:58.793Z,1736357098.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.799988 m,
      nav range: 306.181061 m,
      bearing: 267.105791 deg,
      approach rate: -0.677802 m/s,
      LOS rate: -0.006055 deg/s,
      cmd heading: 267.158915 deg,
      new cmd heading: 267.152022 deg.

2025-01-08T17:24:58.794Z,1736357098.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.662683 target range: 328.799988 and range: 328.80 m.
2025-01-08T17:24:58.942Z,1736357098.942 [DAT](INFO): DAT read: 17:24:57.1755 LVL= 20640, 23985, 18162, 25427, AGC= 67, IDX= 403,-0.50,-2.653, 2.017,-2.624, 2.847, PHS= 0.871,-0.783, 0.809, RAW= 148.1, -11.0, CAL= 155.0, -19.2, ROT= 355.0,  19.2

2025-01-08T17:24:58.943Z,1736357098.943 [DAT](INFO): got valid direction response:
 17:24:57.1755 LVL= 20640, 23985, 18162, 25427, AGC= 67, IDX= 403,-0.50,-2.653, 2.017,-2.624, 2.847, PHS= 0.871,-0.783, 0.809, RAW= 148.1, -11.0, CAL= 155.0, -19.2, ROT= 355.0,  19.2

2025-01-08T17:24:58.945Z,1736357098.945 [DAT](INFO): DAT read: Bearing 355.0,  19.2 (Local)

2025-01-08T17:24:58.946Z,1736357098.946 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.0,  19.2 (Local)

2025-01-08T17:24:58.947Z,1736357098.947 [DAT](INFO): DAT read: Range 10 to 50 : 328.0 m  (Round-trip  437.4 ms) speed  0.3 m/s

2025-01-08T17:24:58.948Z,1736357098.948 [DAT](INFO): DAT read: user:122>

2025-01-08T17:24:58.949Z,1736357098.949 [DAT](INFO): DAT read: Tx time:17:24:58.2840

2025-01-08T17:24:58.949Z,1736357098.949 [DAT](INFO): Ping request sent.
2025-01-08T17:24:58.949Z,1736357098.949 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:24:58.949Z,1736357098.949 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:24:58.950Z,1736357098.950 [DAT](INFO): direction in FSK: [0.940783,-0.082308,-0.328867]
2025-01-08T17:24:58.951Z,1736357098.951 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:58.951Z,1736357098.951 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:58.954Z,1736357098.954 [DAT](INFO): publishing transmit ping time
2025-01-08T17:24:58.955Z,1736357098.955 [DAT](INFO): publishing direction and range info
2025-01-08T17:24:58.988Z,1736357098.988 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:24:59.169Z,1736357099.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:59.183Z,1736357099.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 328.000000 m,
      deltaT: 3.780100 s,
      deltaX: -0.799988 m,
      approachRate: -0.211631 m/s,
      rangeRepo size: 4

2025-01-08T17:24:59.185Z,1736357099.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 328.000000 m,
      bearing: 265.260848 deg,
      lat: 36.903956 deg,
      lon: -122.119221 deg,
      deltaT: 3.780100 s,
      deltaX: -0.799988 m,
      approachRate: -0.211631 m/s,
      posRepo size: 4

2025-01-08T17:24:59.186Z,1736357099.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.00 m.
2025-01-08T17:24:59.189Z,1736357099.189 [DAT](INFO): DAT read: TxSync time:17:24:58.2833

2025-01-08T17:24:59.208Z,1736357099.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.000000 m,
      nav range: 304.698730 m,
      bearing: 267.091848 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006055 deg/s,
      cmd heading: 267.152030 deg,
      new cmd heading: 267.144818 deg.

2025-01-08T17:24:59.209Z,1736357099.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.662557 target range: 328.000000 and range: 328.00 m.
2025-01-08T17:24:59.591Z,1736357099.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:59.607Z,1736357099.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.00 m.
2025-01-08T17:24:59.631Z,1736357099.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.000000 m,
      nav range: 304.409424 m,
      bearing: 267.087861 deg,
      approach rate: -0.681674 m/s,
      LOS rate: -0.009405 deg/s,
      cmd heading: 267.144818 deg,
      new cmd heading: 267.132843 deg.

2025-01-08T17:24:59.636Z,1736357099.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.662348 target range: 328.000000 and range: 328.00 m.
2025-01-08T17:24:59.976Z,1736357099.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:24:59.986Z,1736357099.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.00 m.
2025-01-08T17:24:59.988Z,1736357099.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.000000 m,
      nav range: 304.145386 m,
      bearing: 267.084478 deg,
      approach rate: -0.697020 m/s,
      LOS rate: -0.008936 deg/s,
      cmd heading: 267.132851 deg,
      new cmd heading: 267.122696 deg.

2025-01-08T17:24:59.989Z,1736357099.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.662170 target range: 328.000000 and range: 328.00 m.
2025-01-08T17:25:00.415Z,1736357100.415 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:00.424Z,1736357100.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.00 m.
2025-01-08T17:25:00.426Z,1736357100.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.000000 m,
      nav range: 303.831360 m,
      bearing: 267.080930 deg,
      approach rate: -0.717539 m/s,
      LOS rate: -0.008117 deg/s,
      cmd heading: 267.122688 deg,
      new cmd heading: 267.112030 deg.

2025-01-08T17:25:00.428Z,1736357100.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.661984 target range: 328.000000 and range: 328.00 m.
2025-01-08T17:25:00.794Z,1736357100.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:00.827Z,1736357100.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:00.830Z,1736357100.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.00 m.
2025-01-08T17:25:00.833Z,1736357100.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.000000 m,
      nav range: 303.559387 m,
      bearing: 267.077941 deg,
      approach rate: -0.669641 m/s,
      LOS rate: -0.007365 deg/s,
      cmd heading: 267.112033 deg,
      new cmd heading: 267.103059 deg.

2025-01-08T17:25:00.834Z,1736357100.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.661828 target range: 328.000000 and range: 328.00 m.
2025-01-08T17:25:00.953Z,1736357100.953 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:25:00.953Z,1736357100.953 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:25:00.953Z,1736357100.953 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:25:01.196Z,1736357101.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:01.204Z,1736357101.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255393
2025-01-08T17:25:01.205Z,1736357101.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.00 m.
2025-01-08T17:25:01.208Z,1736357101.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.000000 m,
      nav range: 303.272675 m,
      bearing: 267.074657 deg,
      approach rate: -0.766228 m/s,
      LOS rate: -0.008784 deg/s,
      cmd heading: 267.103072 deg,
      new cmd heading: 267.093211 deg.

2025-01-08T17:25:01.209Z,1736357101.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.661656 target range: 328.000000 and range: 328.00 m.
2025-01-08T17:25:01.457Z,1736357101.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507807
2025-01-08T17:25:01.630Z,1736357101.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:01.638Z,1736357101.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.00 m.
2025-01-08T17:25:01.641Z,1736357101.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.000000 m,
      nav range: 302.958740 m,
      bearing: 267.069627 deg,
      approach rate: -0.722352 m/s,
      LOS rate: -0.011586 deg/s,
      cmd heading: 267.093209 deg,
      new cmd heading: 267.078104 deg.

2025-01-08T17:25:01.642Z,1736357101.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.661392 target range: 328.000000 and range: 328.00 m.
2025-01-08T17:25:01.710Z,1736357101.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761385
2025-01-08T17:25:01.960Z,1736357101.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011393
2025-01-08T17:25:01.997Z,1736357101.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:02.025Z,1736357102.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.00 m.
2025-01-08T17:25:02.032Z,1736357102.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.000000 m,
      nav range: 302.693909 m,
      bearing: 267.065415 deg,
      approach rate: -0.683802 m/s,
      LOS rate: -0.010886 deg/s,
      cmd heading: 267.078100 deg,
      new cmd heading: 267.065452 deg.

2025-01-08T17:25:02.033Z,1736357102.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.661171 target range: 328.000000 and range: 328.00 m.
2025-01-08T17:25:02.213Z,1736357102.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263702
2025-01-08T17:25:02.451Z,1736357102.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:02.460Z,1736357102.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.00 m.
2025-01-08T17:25:02.465Z,1736357102.465 [DAT](INFO): DAT read: Rx Time:17:25:01.1198

2025-01-08T17:25:02.465Z,1736357102.465 [DAT](INFO): Rx dataTimestamp_ set to:1736357102.464916
2025-01-08T17:25:02.466Z,1736357102.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516722
2025-01-08T17:25:02.467Z,1736357102.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.000000 m,
      nav range: 302.368683 m,
      bearing: 267.059549 deg,
      approach rate: -0.748237 m/s,
      LOS rate: -0.013510 deg/s,
      cmd heading: 267.065451 deg,
      new cmd heading: 267.047835 deg.

2025-01-08T17:25:02.468Z,1736357102.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660864 target range: 328.000000 and range: 328.00 m.
2025-01-08T17:25:02.717Z,1736357102.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768293
2025-01-08T17:25:02.872Z,1736357102.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:02.879Z,1736357102.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:02.881Z,1736357102.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 328.00 m.
2025-01-08T17:25:02.884Z,1736357102.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 328.000000 m,
      nav range: 302.067596 m,
      bearing: 267.054191 deg,
      approach rate: -0.715646 m/s,
      LOS rate: -0.012750 deg/s,
      cmd heading: 267.047829 deg,
      new cmd heading: 267.031737 deg.

2025-01-08T17:25:02.885Z,1736357102.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660583 target range: 328.000000 and range: 328.00 m.
2025-01-08T17:25:02.974Z,1736357102.974 [DAT](INFO): DAT read: 17:25:01.1198 LVL= 23072, 32753, 21858, 32755, AGC= 69, IDX= 385, 0.12, 1.623, 0.196, 1.432, 0.856, PHS= 0.855,-0.613, 0.573, RAW= 139.6, -12.0, CAL= 145.9, -21.7, ROT=   4.1,  21.7

2025-01-08T17:25:02.976Z,1736357102.976 [DAT](INFO): got valid direction response:
 17:25:01.1198 LVL= 23072, 32753, 21858, 32755, AGC= 69, IDX= 385, 0.12, 1.623, 0.196, 1.432, 0.856, PHS= 0.855,-0.613, 0.573, RAW= 139.6, -12.0, CAL= 145.9, -21.7, ROT=   4.1,  21.7

2025-01-08T17:25:02.977Z,1736357102.977 [DAT](INFO): DAT read: Bearing   4.1,  21.7 (Local)

2025-01-08T17:25:02.977Z,1736357102.977 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.1,  21.7 (Local)

2025-01-08T17:25:02.979Z,1736357102.979 [DAT](INFO): DAT read: Range 10 to 50 : 323.6 m  (Round-trip  431.5 ms) speed  0.2 m/s

2025-01-08T17:25:02.980Z,1736357102.980 [DAT](INFO): DAT read: user:123>

2025-01-08T17:25:02.981Z,1736357102.981 [DAT](INFO): DAT read: Tx time:17:25:02.2341

2025-01-08T17:25:02.981Z,1736357102.981 [DAT](INFO): Ping request sent.
2025-01-08T17:25:02.981Z,1736357102.981 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:25:02.981Z,1736357102.981 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:25:02.982Z,1736357102.982 [DAT](INFO): direction in FSK: [0.926755,0.066431,-0.369747]
2025-01-08T17:25:02.983Z,1736357102.983 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:02.983Z,1736357102.983 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:02.997Z,1736357102.997 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:02.997Z,1736357102.997 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:03.216Z,1736357103.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:03.220Z,1736357103.220 [DAT](INFO): DAT read: TxSync time:17:25:02.2333

2025-01-08T17:25:03.252Z,1736357103.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 323.600006 m,
      deltaT: 4.032186 s,
      deltaX: -4.399994 m,
      approachRate: -1.091218 m/s,
      rangeRepo size: 4

2025-01-08T17:25:03.254Z,1736357103.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 323.600006 m,
      bearing: 274.094662 deg,
      lat: 36.904073 deg,
      lon: -122.119204 deg,
      deltaT: 4.032186 s,
      deltaX: -4.399994 m,
      approachRate: -1.091218 m/s,
      posRepo size: 4

2025-01-08T17:25:03.259Z,1736357103.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.60 m.
2025-01-08T17:25:03.263Z,1736357103.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.600006 m,
      nav range: 299.965240 m,
      bearing: 269.509714 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012750 deg/s,
      cmd heading: 267.031737 deg,
      new cmd heading: 267.017897 deg.

2025-01-08T17:25:03.272Z,1736357103.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660341 target range: 323.600006 and range: 323.60 m.
2025-01-08T17:25:03.633Z,1736357103.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:03.641Z,1736357103.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.60 m.
2025-01-08T17:25:03.645Z,1736357103.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.600006 m,
      nav range: 299.666229 m,
      bearing: 269.507177 deg,
      approach rate: -0.749817 m/s,
      LOS rate: -0.006369 deg/s,
      cmd heading: 267.017885 deg,
      new cmd heading: 267.010267 deg.

2025-01-08T17:25:03.646Z,1736357103.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660208 target range: 323.600006 and range: 323.60 m.
2025-01-08T17:25:04.023Z,1736357104.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:04.032Z,1736357104.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.60 m.
2025-01-08T17:25:04.038Z,1736357104.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.600006 m,
      nav range: 299.385864 m,
      bearing: 269.504955 deg,
      approach rate: -0.717064 m/s,
      LOS rate: -0.005689 deg/s,
      cmd heading: 267.010263 deg,
      new cmd heading: 267.003589 deg.

2025-01-08T17:25:04.039Z,1736357104.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660092 target range: 323.600006 and range: 323.60 m.
2025-01-08T17:25:04.460Z,1736357104.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:04.486Z,1736357104.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.60 m.
2025-01-08T17:25:04.493Z,1736357104.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.600006 m,
      nav range: 299.075775 m,
      bearing: 269.501679 deg,
      approach rate: -0.683696 m/s,
      LOS rate: -0.007231 deg/s,
      cmd heading: 267.003597 deg,
      new cmd heading: 266.993758 deg.

2025-01-08T17:25:04.494Z,1736357104.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659920 target range: 323.600006 and range: 323.60 m.
2025-01-08T17:25:04.836Z,1736357104.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:04.844Z,1736357104.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.60 m.
2025-01-08T17:25:04.847Z,1736357104.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.600006 m,
      nav range: 298.808472 m,
      bearing: 269.498777 deg,
      approach rate: -0.746639 m/s,
      LOS rate: -0.008111 deg/s,
      cmd heading: 266.993761 deg,
      new cmd heading: 266.985049 deg.

2025-01-08T17:25:04.848Z,1736357104.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659768 target range: 323.600006 and range: 323.60 m.
2025-01-08T17:25:05.233Z,1736357105.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:05.241Z,1736357105.241 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:05.246Z,1736357105.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.60 m.
2025-01-08T17:25:05.249Z,1736357105.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.600006 m,
      nav range: 298.525848 m,
      bearing: 269.495666 deg,
      approach rate: -0.707653 m/s,
      LOS rate: -0.007797 deg/s,
      cmd heading: 266.985046 deg,
      new cmd heading: 266.975704 deg.

2025-01-08T17:25:05.250Z,1736357105.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659605 target range: 323.600006 and range: 323.60 m.
2025-01-08T17:25:05.488Z,1736357105.488 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:25:05.488Z,1736357105.488 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:25:05.488Z,1736357105.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:25:05.673Z,1736357105.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:05.682Z,1736357105.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.60 m.
2025-01-08T17:25:05.686Z,1736357105.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.600006 m,
      nav range: 298.215881 m,
      bearing: 269.492267 deg,
      approach rate: -0.706474 m/s,
      LOS rate: -0.007755 deg/s,
      cmd heading: 266.975702 deg,
      new cmd heading: 266.965495 deg.

2025-01-08T17:25:05.688Z,1736357105.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659427 target range: 323.600006 and range: 323.60 m.
2025-01-08T17:25:05.741Z,1736357105.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759905
2025-01-08T17:25:05.992Z,1736357105.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011191
2025-01-08T17:25:06.045Z,1736357106.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:06.055Z,1736357106.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.60 m.
2025-01-08T17:25:06.058Z,1736357106.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.600006 m,
      nav range: 297.953125 m,
      bearing: 269.489401 deg,
      approach rate: -0.704936 m/s,
      LOS rate: -0.007698 deg/s,
      cmd heading: 266.965484 deg,
      new cmd heading: 266.956876 deg.

2025-01-08T17:25:06.059Z,1736357106.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659276 target range: 323.600006 and range: 323.60 m.
2025-01-08T17:25:06.247Z,1736357106.247 [DAT](INFO): DAT read: Rx Time:17:25:05.0675

2025-01-08T17:25:06.247Z,1736357106.247 [DAT](INFO): Rx dataTimestamp_ set to:1736357106.246843
2025-01-08T17:25:06.248Z,1736357106.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266756
2025-01-08T17:25:06.489Z,1736357106.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:06.501Z,1736357106.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519522
2025-01-08T17:25:06.501Z,1736357106.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.60 m.
2025-01-08T17:25:06.504Z,1736357106.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.600006 m,
      nav range: 297.649017 m,
      bearing: 269.485399 deg,
      approach rate: -0.684684 m/s,
      LOS rate: -0.009020 deg/s,
      cmd heading: 266.956878 deg,
      new cmd heading: 266.944860 deg.

2025-01-08T17:25:06.505Z,1736357106.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659067 target range: 323.600006 and range: 323.60 m.
2025-01-08T17:25:06.755Z,1736357106.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773586
2025-01-08T17:25:06.877Z,1736357106.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:06.912Z,1736357106.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 323.60 m.
2025-01-08T17:25:06.914Z,1736357106.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 323.600006 m,
      nav range: 297.383545 m,
      bearing: 269.481898 deg,
      approach rate: -0.643029 m/s,
      LOS rate: -0.008486 deg/s,
      cmd heading: 266.944857 deg,
      new cmd heading: 266.934347 deg.

2025-01-08T17:25:06.920Z,1736357106.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658883 target range: 323.600006 and range: 323.60 m.
2025-01-08T17:25:07.014Z,1736357107.014 [DAT](INFO): DAT read: 17:25:05.0675 LVL= 26800, 32177, 24674, 32755, AGC= 68, IDX= 409, 0.10, 1.816, 0.187, 1.830, 1.004, PHS= 0.900,-0.769, 0.823, RAW= 147.6, -11.7, CAL= 154.8, -19.9, ROT= 355.2,  19.9

2025-01-08T17:25:07.016Z,1736357107.016 [DAT](INFO): got valid direction response:
 17:25:05.0675 LVL= 26800, 32177, 24674, 32755, AGC= 68, IDX= 409, 0.10, 1.816, 0.187, 1.830, 1.004, PHS= 0.900,-0.769, 0.823, RAW= 147.6, -11.7, CAL= 154.8, -19.9, ROT= 355.2,  19.9

2025-01-08T17:25:07.018Z,1736357107.018 [DAT](INFO): DAT read: Bearing 355.2,  19.9 (Local)

2025-01-08T17:25:07.024Z,1736357107.024 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.2,  19.9 (Local)

2025-01-08T17:25:07.027Z,1736357107.027 [DAT](INFO): DAT read: Range 10 to 50 : 321.9 m  (Round-trip  429.2 ms) speed  0.7 m/s

2025-01-08T17:25:07.048Z,1736357107.048 [DAT](INFO): DAT read: user:124>

2025-01-08T17:25:07.049Z,1736357107.049 [DAT](INFO): DAT read: Tx time:17:25:06.1841

2025-01-08T17:25:07.049Z,1736357107.049 [DAT](INFO): Ping request sent.
2025-01-08T17:25:07.049Z,1736357107.049 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:25:07.050Z,1736357107.050 [DAT](INFO): DAT read: TxSync time:17:25:06.1833

2025-01-08T17:25:07.052Z,1736357107.052 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:25:07.054Z,1736357107.054 [DAT](INFO): direction in FSK: [0.936990,-0.078681,-0.340380]
2025-01-08T17:25:07.054Z,1736357107.054 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:07.055Z,1736357107.055 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:07.067Z,1736357107.067 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:07.067Z,1736357107.067 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:07.258Z,1736357107.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:07.291Z,1736357107.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 321.899994 m,
      deltaT: 4.036218 s,
      deltaX: -1.700012 m,
      approachRate: -0.421189 m/s,
      rangeRepo size: 4

2025-01-08T17:25:07.298Z,1736357107.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 321.899994 m,
      bearing: 264.575788 deg,
      lat: 36.903956 deg,
      lon: -122.119201 deg,
      deltaT: 4.036218 s,
      deltaX: -1.700012 m,
      approachRate: -0.421189 m/s,
      posRepo size: 4

2025-01-08T17:25:07.298Z,1736357107.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.90 m.
2025-01-08T17:25:07.301Z,1736357107.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.899994 m,
      nav range: 297.279968 m,
      bearing: 266.978174 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008486 deg/s,
      cmd heading: 266.934339 deg,
      new cmd heading: 266.924713 deg.

2025-01-08T17:25:07.302Z,1736357107.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658715 target range: 321.899994 and range: 321.90 m.
2025-01-08T17:25:07.677Z,1736357107.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:07.686Z,1736357107.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:07.690Z,1736357107.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.90 m.
2025-01-08T17:25:07.696Z,1736357107.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.899994 m,
      nav range: 297.002747 m,
      bearing: 266.973538 deg,
      approach rate: -0.693519 m/s,
      LOS rate: -0.011610 deg/s,
      cmd heading: 266.924722 deg,
      new cmd heading: 266.910799 deg.

2025-01-08T17:25:07.697Z,1736357107.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658472 target range: 321.899994 and range: 321.90 m.
2025-01-08T17:25:07.761Z,1736357107.761 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:25:07.762Z,1736357107.762 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:25:07.762Z,1736357107.762 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:25:08.014Z,1736357108.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.964882
2025-01-08T17:25:08.057Z,1736357108.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:08.066Z,1736357108.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.90 m.
2025-01-08T17:25:08.070Z,1736357108.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.899994 m,
      nav range: 296.751587 m,
      bearing: 266.969346 deg,
      approach rate: -0.666892 m/s,
      LOS rate: -0.011140 deg/s,
      cmd heading: 266.910788 deg,
      new cmd heading: 266.898202 deg.

2025-01-08T17:25:08.071Z,1736357108.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658252 target range: 321.899994 and range: 321.90 m.
2025-01-08T17:25:08.264Z,1736357108.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.214978
2025-01-08T17:25:08.517Z,1736357108.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467304
2025-01-08T17:25:08.519Z,1736357108.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:08.528Z,1736357108.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.90 m.
2025-01-08T17:25:08.531Z,1736357108.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.899994 m,
      nav range: 296.461670 m,
      bearing: 266.964138 deg,
      approach rate: -0.628845 m/s,
      LOS rate: -0.011308 deg/s,
      cmd heading: 266.898193 deg,
      new cmd heading: 266.882553 deg.

2025-01-08T17:25:08.532Z,1736357108.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657979 target range: 321.899994 and range: 321.90 m.
2025-01-08T17:25:08.768Z,1736357108.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.719024
2025-01-08T17:25:08.876Z,1736357108.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:08.884Z,1736357108.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.90 m.
2025-01-08T17:25:08.887Z,1736357108.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.899994 m,
      nav range: 296.238068 m,
      bearing: 266.959998 deg,
      approach rate: -0.626699 m/s,
      LOS rate: -0.011612 deg/s,
      cmd heading: 266.882566 deg,
      new cmd heading: 266.870137 deg.

2025-01-08T17:25:08.888Z,1736357108.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657763 target range: 321.899994 and range: 321.90 m.
2025-01-08T17:25:09.021Z,1736357109.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970970
2025-01-08T17:25:09.272Z,1736357109.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223234
2025-01-08T17:25:09.280Z,1736357109.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:09.289Z,1736357109.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.90 m.
2025-01-08T17:25:09.291Z,1736357109.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.899994 m,
      nav range: 295.984833 m,
      bearing: 266.955215 deg,
      approach rate: -0.626151 m/s,
      LOS rate: -0.011835 deg/s,
      cmd heading: 266.870135 deg,
      new cmd heading: 266.855775 deg.

2025-01-08T17:25:09.292Z,1736357109.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657512 target range: 321.899994 and range: 321.90 m.
2025-01-08T17:25:09.524Z,1736357109.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475074
2025-01-08T17:25:09.730Z,1736357109.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:09.737Z,1736357109.737 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:09.739Z,1736357109.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.90 m.
2025-01-08T17:25:09.742Z,1736357109.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.899994 m,
      nav range: 295.706543 m,
      bearing: 266.950497 deg,
      approach rate: -0.617785 m/s,
      LOS rate: -0.010485 deg/s,
      cmd heading: 266.855764 deg,
      new cmd heading: 266.841595 deg.

2025-01-08T17:25:09.743Z,1736357109.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657264 target range: 321.899994 and range: 321.90 m.
2025-01-08T17:25:09.777Z,1736357109.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727399
2025-01-08T17:25:10.028Z,1736357110.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979001
2025-01-08T17:25:10.077Z,1736357110.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:10.087Z,1736357110.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.90 m.
2025-01-08T17:25:10.090Z,1736357110.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.899994 m,
      nav range: 295.491760 m,
      bearing: 266.946778 deg,
      approach rate: -0.616995 m/s,
      LOS rate: -0.010691 deg/s,
      cmd heading: 266.841585 deg,
      new cmd heading: 266.830420 deg.

2025-01-08T17:25:10.091Z,1736357110.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657069 target range: 321.899994 and range: 321.90 m.
2025-01-08T17:25:10.280Z,1736357110.280 [DAT](INFO): DAT read: Rx Time:17:25:09.0123

2025-01-08T17:25:10.281Z,1736357110.281 [DAT](INFO): Rx dataTimestamp_ set to:1736357110.280645
2025-01-08T17:25:10.281Z,1736357110.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232235
2025-01-08T17:25:10.532Z,1736357110.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483065
2025-01-08T17:25:10.546Z,1736357110.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:10.554Z,1736357110.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 321.90 m.
2025-01-08T17:25:10.558Z,1736357110.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 321.899994 m,
      nav range: 295.210236 m,
      bearing: 266.942281 deg,
      approach rate: -0.602665 m/s,
      LOS rate: -0.009636 deg/s,
      cmd heading: 266.830410 deg,
      new cmd heading: 266.816907 deg.

2025-01-08T17:25:10.559Z,1736357110.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656834 target range: 321.899994 and range: 321.90 m.
2025-01-08T17:25:10.797Z,1736357110.797 [DAT](INFO): DAT read: 17:25:09.0123 LVL= 26016, 32753, 28274, 32755, AGC= 66, IDX= 385, 0.18, 2.833, 1.446, 2.709, 2.099, PHS= 0.822,-0.606, 0.607, RAW= 142.0, -12.3, CAL= 148.7, -21.5, ROT=   1.3,  21.5

2025-01-08T17:25:10.798Z,1736357110.798 [DAT](INFO): got valid direction response:
 17:25:09.0123 LVL= 26016, 32753, 28274, 32755, AGC= 66, IDX= 385, 0.18, 2.833, 1.446, 2.709, 2.099, PHS= 0.822,-0.606, 0.607, RAW= 142.0, -12.3, CAL= 148.7, -21.5, ROT=   1.3,  21.5

2025-01-08T17:25:10.799Z,1736357110.799 [DAT](INFO): DAT read: Bearing   1.3,  21.5 (Local)

2025-01-08T17:25:10.799Z,1736357110.799 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.3,  21.5 (Local)

2025-01-08T17:25:10.805Z,1736357110.805 [DAT](INFO): DAT read: Range 10 to 50 : 318.0 m  (Round-trip  424.0 ms) speed  0.7 m/s

2025-01-08T17:25:10.806Z,1736357110.806 [DAT](INFO): DAT read: user:125>

2025-01-08T17:25:10.806Z,1736357110.806 [DAT](INFO): DAT read: Tx time:17:25:10.1341

2025-01-08T17:25:10.807Z,1736357110.807 [DAT](INFO): Ping request sent.
2025-01-08T17:25:10.807Z,1736357110.807 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:25:10.809Z,1736357110.809 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:25:10.810Z,1736357110.810 [DAT](INFO): direction in FSK: [0.930178,0.021109,-0.366501]
2025-01-08T17:25:10.810Z,1736357110.810 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:10.810Z,1736357110.810 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:10.814Z,1736357110.814 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:10.814Z,1736357110.814 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:10.924Z,1736357110.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:10.994Z,1736357110.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 318.000000 m,
      deltaT: 3.782322 s,
      deltaX: -3.899994 m,
      approachRate: -1.031111 m/s,
      rangeRepo size: 4

2025-01-08T17:25:11.008Z,1736357111.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 318.000000 m,
      bearing: 271.250519 deg,
      lat: 36.904074 deg,
      lon: -122.119182 deg,
      deltaT: 3.782322 s,
      deltaX: -3.899994 m,
      approachRate: -1.031111 m/s,
      posRepo size: 4

2025-01-08T17:25:11.008Z,1736357111.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.00 m.
2025-01-08T17:25:11.019Z,1736357111.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.000000 m,
      nav range: 292.845062 m,
      bearing: 269.489624 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009636 deg/s,
      cmd heading: 266.816914 deg,
      new cmd heading: 266.804207 deg.

2025-01-08T17:25:11.020Z,1736357111.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656612 target range: 318.000000 and range: 318.00 m.
2025-01-08T17:25:11.040Z,1736357111.040 [DAT](INFO): DAT read: TxSync time:17:25:10.1333

2025-01-08T17:25:11.321Z,1736357111.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:11.331Z,1736357111.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.00 m.
2025-01-08T17:25:11.333Z,1736357111.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.000000 m,
      nav range: 292.605377 m,
      bearing: 269.487742 deg,
      approach rate: -0.711698 m/s,
      LOS rate: -0.005595 deg/s,
      cmd heading: 266.804210 deg,
      new cmd heading: 266.798557 deg.

2025-01-08T17:25:11.334Z,1736357111.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656513 target range: 318.000000 and range: 318.00 m.
2025-01-08T17:25:11.747Z,1736357111.747 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010809261681,35.0, +110,1494.0,  0
2025-01-08T17:25:11.756Z,1736357111.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:25:11.756Z,1736357111.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:11.764Z,1736357111.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:11.766Z,1736357111.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.00 m.
2025-01-08T17:25:11.769Z,1736357111.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.000000 m,
      nav range: 292.343719 m,
      bearing: 269.485683 deg,
      approach rate: -0.600950 m/s,
      LOS rate: -0.004733 deg/s,
      cmd heading: 266.798554 deg,
      new cmd heading: 266.792372 deg.

2025-01-08T17:25:11.770Z,1736357111.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656405 target range: 318.000000 and range: 318.00 m.
2025-01-08T17:25:11.796Z,1736357111.796 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:25:11.796Z,1736357111.796 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:25:11.796Z,1736357111.796 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:25:12.048Z,1736357112.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241451
2025-01-08T17:25:12.141Z,1736357112.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:25:12.141Z,1736357112.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:12.150Z,1736357112.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.00 m.
2025-01-08T17:25:12.153Z,1736357112.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.000000 m,
      nav range: 292.111847 m,
      bearing: 269.483940 deg,
      approach rate: -0.603795 m/s,
      LOS rate: -0.004542 deg/s,
      cmd heading: 266.792380 deg,
      new cmd heading: 266.787147 deg.

2025-01-08T17:25:12.154Z,1736357112.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656314 target range: 318.000000 and range: 318.00 m.
2025-01-08T17:25:12.300Z,1736357112.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493444
2025-01-08T17:25:12.558Z,1736357112.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750864
2025-01-08T17:25:12.580Z,1736357112.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:12.589Z,1736357112.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.00 m.
2025-01-08T17:25:12.592Z,1736357112.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.000000 m,
      nav range: 291.828125 m,
      bearing: 269.481951 deg,
      approach rate: -0.646452 m/s,
      LOS rate: -0.004536 deg/s,
      cmd heading: 266.787134 deg,
      new cmd heading: 266.781162 deg.

2025-01-08T17:25:12.593Z,1736357112.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656209 target range: 318.000000 and range: 318.00 m.
2025-01-08T17:25:12.809Z,1736357112.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001932
2025-01-08T17:25:12.935Z,1736357112.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:12.943Z,1736357112.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.00 m.
2025-01-08T17:25:12.946Z,1736357112.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.000000 m,
      nav range: 291.598236 m,
      bearing: 269.480199 deg,
      approach rate: -0.648969 m/s,
      LOS rate: -0.004949 deg/s,
      cmd heading: 266.781151 deg,
      new cmd heading: 266.775892 deg.

2025-01-08T17:25:12.947Z,1736357112.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656118 target range: 318.000000 and range: 318.00 m.
2025-01-08T17:25:13.061Z,1736357113.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253999
2025-01-08T17:25:13.313Z,1736357113.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506058
2025-01-08T17:25:13.348Z,1736357113.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:13.373Z,1736357113.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.00 m.
2025-01-08T17:25:13.380Z,1736357113.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.000000 m,
      nav range: 291.331085 m,
      bearing: 269.478087 deg,
      approach rate: -0.621538 m/s,
      LOS rate: -0.004919 deg/s,
      cmd heading: 266.775906 deg,
      new cmd heading: 266.769563 deg.

2025-01-08T17:25:13.381Z,1736357113.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656007 target range: 318.000000 and range: 318.00 m.
2025-01-08T17:25:13.564Z,1736357113.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757528
2025-01-08T17:25:13.784Z,1736357113.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:13.800Z,1736357113.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:13.802Z,1736357113.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.00 m.
2025-01-08T17:25:13.817Z,1736357113.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009705
2025-01-08T17:25:13.819Z,1736357113.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.000000 m,
      nav range: 291.039246 m,
      bearing: 269.476376 deg,
      approach rate: -0.679436 m/s,
      LOS rate: -0.003988 deg/s,
      cmd heading: 266.769567 deg,
      new cmd heading: 266.764429 deg.

2025-01-08T17:25:13.824Z,1736357113.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655918 target range: 318.000000 and range: 318.00 m.
2025-01-08T17:25:14.068Z,1736357114.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261452
2025-01-08T17:25:14.226Z,1736357114.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:14.236Z,1736357114.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.00 m.
2025-01-08T17:25:14.239Z,1736357114.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.000000 m,
      nav range: 290.743195 m,
      bearing: 269.474594 deg,
      approach rate: -0.684133 m/s,
      LOS rate: -0.004122 deg/s,
      cmd heading: 266.764431 deg,
      new cmd heading: 266.759080 deg.

2025-01-08T17:25:14.240Z,1736357114.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655824 target range: 318.000000 and range: 318.00 m.
2025-01-08T17:25:14.321Z,1736357114.321 [DAT](INFO): DAT read: Rx Time:17:25:12.9393

2025-01-08T17:25:14.321Z,1736357114.321 [DAT](INFO): Rx dataTimestamp_ set to:1736357114.320700
2025-01-08T17:25:14.322Z,1736357114.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514696
2025-01-08T17:25:14.573Z,1736357114.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765921
2025-01-08T17:25:14.732Z,1736357114.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:14.741Z,1736357114.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 318.00 m.
2025-01-08T17:25:14.745Z,1736357114.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 318.000000 m,
      nav range: 290.381927 m,
      bearing: 269.472435 deg,
      approach rate: -0.714557 m/s,
      LOS rate: -0.004276 deg/s,
      cmd heading: 266.759076 deg,
      new cmd heading: 266.752590 deg.

2025-01-08T17:25:14.747Z,1736357114.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655711 target range: 318.000000 and range: 318.00 m.
2025-01-08T17:25:14.834Z,1736357114.834 [DAT](INFO): DAT read: 17:25:12.9393 LVL= 18784, 26433, 26226, 30771, AGC= 69, IDX= 411, 0.26,-2.468, 2.139,-2.565, 3.037, PHS= 0.867,-0.851, 0.678, RAW= 144.3,  -8.6, CAL= 150.7, -17.6, ROT= 359.3,  17.6

2025-01-08T17:25:14.836Z,1736357114.836 [DAT](INFO): got valid direction response:
 17:25:12.9393 LVL= 18784, 26433, 26226, 30771, AGC= 69, IDX= 411, 0.26,-2.468, 2.139,-2.565, 3.037, PHS= 0.867,-0.851, 0.678, RAW= 144.3,  -8.6, CAL= 150.7, -17.6, ROT= 359.3,  17.6

2025-01-08T17:25:14.838Z,1736357114.838 [DAT](INFO): DAT read: Bearing 359.3,  17.6 (Local)

2025-01-08T17:25:14.838Z,1736357114.838 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.3,  17.6 (Local)

2025-01-08T17:25:14.840Z,1736357114.840 [DAT](INFO): DAT read: Range 10 to 50 : 300.7 m  (Round-trip  401.0 ms) speed  0.6 m/s

2025-01-08T17:25:14.841Z,1736357114.841 [DAT](INFO): DAT read: user:126>

2025-01-08T17:25:14.841Z,1736357114.841 [DAT](INFO): DAT read: Tx time:17:25:14.0341

2025-01-08T17:25:14.842Z,1736357114.842 [DAT](INFO): Ping request sent.
2025-01-08T17:25:14.842Z,1736357114.842 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:25:14.842Z,1736357114.842 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:25:14.844Z,1736357114.844 [DAT](INFO): direction in FSK: [0.953120,-0.011645,-0.302370]
2025-01-08T17:25:14.844Z,1736357114.844 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:14.845Z,1736357114.845 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:14.853Z,1736357114.853 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:14.853Z,1736357114.853 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:15.061Z,1736357115.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:15.076Z,1736357115.076 [DAT](INFO): DAT read: TxSync time:17:25:14.0333

2025-01-08T17:25:15.122Z,1736357115.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 300.700012 m,
      deltaT: 4.037317 s,
      deltaX: -17.299988 m,
      approachRate: -4.285021 m/s,
      rangeRepo size: 4

2025-01-08T17:25:15.149Z,1736357115.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 300.700012 m,
      bearing: 268.770149 deg,
      lat: 36.904044 deg,
      lon: -122.119182 deg,
      deltaT: 4.037317 s,
      deltaX: -17.299988 m,
      approachRate: -4.285021 m/s,
      posRepo size: 4

2025-01-08T17:25:15.149Z,1736357115.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.70 m.
2025-01-08T17:25:15.156Z,1736357115.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.700012 m,
      nav range: 290.198975 m,
      bearing: 268.797653 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004276 deg/s,
      cmd heading: 266.752601 deg,
      new cmd heading: 266.747801 deg.

2025-01-08T17:25:15.157Z,1736357115.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655627 target range: 300.700012 and range: 300.70 m.
2025-01-08T17:25:15.430Z,1736357115.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:15.455Z,1736357115.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.70 m.
2025-01-08T17:25:15.468Z,1736357115.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.700012 m,
      nav range: 289.935455 m,
      bearing: 268.795673 deg,
      approach rate: -0.775595 m/s,
      LOS rate: -0.005832 deg/s,
      cmd heading: 266.747792 deg,
      new cmd heading: 266.741848 deg.

2025-01-08T17:25:15.469Z,1736357115.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655523 target range: 300.700012 and range: 300.70 m.
2025-01-08T17:25:15.867Z,1736357115.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:15.874Z,1736357115.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:15.876Z,1736357115.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.70 m.
2025-01-08T17:25:15.881Z,1736357115.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.700012 m,
      nav range: 289.604706 m,
      bearing: 268.793852 deg,
      approach rate: -0.784356 m/s,
      LOS rate: -0.004324 deg/s,
      cmd heading: 266.741837 deg,
      new cmd heading: 266.736367 deg.

2025-01-08T17:25:15.882Z,1736357115.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655428 target range: 300.700012 and range: 300.70 m.
2025-01-08T17:25:16.086Z,1736357116.086 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:25:16.086Z,1736357116.086 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:25:16.086Z,1736357116.086 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:25:16.255Z,1736357116.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:16.285Z,1736357116.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.70 m.
2025-01-08T17:25:16.288Z,1736357116.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.700012 m,
      nav range: 289.310822 m,
      bearing: 268.792403 deg,
      approach rate: -0.719245 m/s,
      LOS rate: -0.003550 deg/s,
      cmd heading: 266.736372 deg,
      new cmd heading: 266.732021 deg.

2025-01-08T17:25:16.289Z,1736357116.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655352 target range: 300.700012 and range: 300.70 m.
2025-01-08T17:25:16.337Z,1736357116.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495505
2025-01-08T17:25:16.593Z,1736357116.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749941
2025-01-08T17:25:16.706Z,1736357116.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:16.721Z,1736357116.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.70 m.
2025-01-08T17:25:16.724Z,1736357116.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.700012 m,
      nav range: 288.953888 m,
      bearing: 268.789421 deg,
      approach rate: -0.820199 m/s,
      LOS rate: -0.006862 deg/s,
      cmd heading: 266.732028 deg,
      new cmd heading: 266.723070 deg.

2025-01-08T17:25:16.725Z,1736357116.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655196 target range: 300.700012 and range: 300.70 m.
2025-01-08T17:25:16.840Z,1736357116.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998389
2025-01-08T17:25:17.052Z,1736357117.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:17.068Z,1736357117.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.70 m.
2025-01-08T17:25:17.071Z,1736357117.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.700012 m,
      nav range: 288.679108 m,
      bearing: 268.787171 deg,
      approach rate: -0.789728 m/s,
      LOS rate: -0.006471 deg/s,
      cmd heading: 266.723067 deg,
      new cmd heading: 266.716312 deg.

2025-01-08T17:25:17.073Z,1736357117.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655078 target range: 300.700012 and range: 300.70 m.
2025-01-08T17:25:17.092Z,1736357117.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250413
2025-01-08T17:25:17.345Z,1736357117.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503479
2025-01-08T17:25:17.453Z,1736357117.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:17.462Z,1736357117.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.70 m.
2025-01-08T17:25:17.481Z,1736357117.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.700012 m,
      nav range: 288.361511 m,
      bearing: 268.784671 deg,
      approach rate: -0.807667 m/s,
      LOS rate: -0.006365 deg/s,
      cmd heading: 266.716319 deg,
      new cmd heading: 266.708810 deg.

2025-01-08T17:25:17.482Z,1736357117.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654947 target range: 300.700012 and range: 300.70 m.
2025-01-08T17:25:17.598Z,1736357117.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756378
2025-01-08T17:25:17.849Z,1736357117.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006633
2025-01-08T17:25:17.904Z,1736357117.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:17.916Z,1736357117.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:17.918Z,1736357117.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.70 m.
2025-01-08T17:25:17.925Z,1736357117.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.700012 m,
      nav range: 287.995911 m,
      bearing: 268.782303 deg,
      approach rate: -0.801000 m/s,
      LOS rate: -0.005194 deg/s,
      cmd heading: 266.708806 deg,
      new cmd heading: 266.701693 deg.

2025-01-08T17:25:17.926Z,1736357117.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654823 target range: 300.700012 and range: 300.70 m.
2025-01-08T17:25:18.100Z,1736357118.100 [DAT](INFO): DAT read: Rx Time:17:25:16.8583

2025-01-08T17:25:18.101Z,1736357118.101 [DAT](INFO): Rx dataTimestamp_ set to:1736357118.100445
2025-01-08T17:25:18.101Z,1736357118.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259372
2025-01-08T17:25:18.266Z,1736357118.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:18.275Z,1736357118.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.70 m.
2025-01-08T17:25:18.280Z,1736357118.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.700012 m,
      nav range: 287.702820 m,
      bearing: 268.780605 deg,
      approach rate: -0.821576 m/s,
      LOS rate: -0.004764 deg/s,
      cmd heading: 266.701702 deg,
      new cmd heading: 266.696604 deg.

2025-01-08T17:25:18.281Z,1736357118.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654734 target range: 300.700012 and range: 300.70 m.
2025-01-08T17:25:18.353Z,1736357118.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510594
2025-01-08T17:25:18.612Z,1736357118.612 [DAT](INFO): DAT read: Range 10 to 50 : 314.9 m  (Round-trip  419.9 ms) speed  0.4 m/s

2025-01-08T17:25:18.614Z,1736357118.614 [DAT](INFO): DAT read: user:127>

2025-01-08T17:25:18.640Z,1736357118.640 [DAT](INFO): DAT read: Tx time:17:25:17.9342

2025-01-08T17:25:18.641Z,1736357118.641 [DAT](INFO): Ping request sent.
2025-01-08T17:25:18.641Z,1736357118.641 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:25:18.642Z,1736357118.642 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:25:18.642Z,1736357118.642 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:18.643Z,1736357118.643 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:18.765Z,1736357118.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:18.779Z,1736357118.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 314.899994 m,
      deltaT: 3.781918 s,
      deltaX: 14.199982 m,
      approachRate: 3.754704 m/s,
      rangeRepo size: 4

2025-01-08T17:25:18.780Z,1736357118.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.70 m.
2025-01-08T17:25:18.783Z,1736357118.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.700012 m,
      nav range: 287.292877 m,
      bearing: 268.776819 deg,
      approach rate: -0.815167 m/s,
      LOS rate: -0.007540 deg/s,
      cmd heading: 266.696593 deg,
      new cmd heading: 266.685218 deg.

2025-01-08T17:25:18.784Z,1736357118.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654535 target range: 300.700012 and range: 314.90 m.
2025-01-08T17:25:18.857Z,1736357118.857 [DAT](INFO): DAT read: TxSync time:17:25:17.9334

2025-01-08T17:25:19.201Z,1736357119.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:19.209Z,1736357119.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.70 m.
2025-01-08T17:25:19.229Z,1736357119.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.700012 m,
      nav range: 286.935028 m,
      bearing: 268.773781 deg,
      approach rate: -0.828715 m/s,
      LOS rate: -0.007044 deg/s,
      cmd heading: 266.685228 deg,
      new cmd heading: 266.676103 deg.

2025-01-08T17:25:19.230Z,1736357119.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654376 target range: 300.700012 and range: 314.90 m.
2025-01-08T17:25:19.688Z,1736357119.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:19.722Z,1736357119.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.70 m.
2025-01-08T17:25:19.738Z,1736357119.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.700012 m,
      nav range: 286.550507 m,
      bearing: 268.770537 deg,
      approach rate: -0.749908 m/s,
      LOS rate: -0.006334 deg/s,
      cmd heading: 266.676103 deg,
      new cmd heading: 266.666359 deg.

2025-01-08T17:25:19.743Z,1736357119.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654206 target range: 300.700012 and range: 314.90 m.
2025-01-08T17:25:20.061Z,1736357120.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:20.067Z,1736357120.067 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:20.069Z,1736357120.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.70 m.
2025-01-08T17:25:20.092Z,1736357120.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.700012 m,
      nav range: 286.256775 m,
      bearing: 268.768225 deg,
      approach rate: -0.845719 m/s,
      LOS rate: -0.006664 deg/s,
      cmd heading: 266.666349 deg,
      new cmd heading: 266.659406 deg.

2025-01-08T17:25:20.093Z,1736357120.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654085 target range: 300.700012 and range: 314.90 m.
2025-01-08T17:25:20.117Z,1736357120.117 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:25:20.117Z,1736357120.117 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:25:20.118Z,1736357120.118 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:25:20.374Z,1736357120.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732737
2025-01-08T17:25:20.508Z,1736357120.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:20.519Z,1736357120.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.70 m.
2025-01-08T17:25:20.525Z,1736357120.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.700012 m,
      nav range: 285.903992 m,
      bearing: 268.765462 deg,
      approach rate: -0.787673 m/s,
      LOS rate: -0.006178 deg/s,
      cmd heading: 266.659410 deg,
      new cmd heading: 266.651109 deg.

2025-01-08T17:25:20.526Z,1736357120.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653940 target range: 300.700012 and range: 314.90 m.
2025-01-08T17:25:20.629Z,1736357120.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987791
2025-01-08T17:25:20.876Z,1736357120.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235451
2025-01-08T17:25:20.904Z,1736357120.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:20.919Z,1736357120.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.70 m.
2025-01-08T17:25:20.922Z,1736357120.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.700012 m,
      nav range: 285.612030 m,
      bearing: 268.762921 deg,
      approach rate: -0.727465 m/s,
      LOS rate: -0.006338 deg/s,
      cmd heading: 266.651104 deg,
      new cmd heading: 266.643473 deg.

2025-01-08T17:25:20.923Z,1736357120.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653807 target range: 300.700012 and range: 314.90 m.
2025-01-08T17:25:21.129Z,1736357121.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488058
2025-01-08T17:25:21.272Z,1736357121.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:21.282Z,1736357121.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.70 m.
2025-01-08T17:25:21.284Z,1736357121.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.700012 m,
      nav range: 285.340424 m,
      bearing: 268.760545 deg,
      approach rate: -0.748192 m/s,
      LOS rate: -0.006552 deg/s,
      cmd heading: 266.643482 deg,
      new cmd heading: 266.636347 deg.

2025-01-08T17:25:21.285Z,1736357121.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653682 target range: 300.700012 and range: 314.90 m.
2025-01-08T17:25:21.380Z,1736357121.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739583
2025-01-08T17:25:21.636Z,1736357121.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994589
2025-01-08T17:25:21.725Z,1736357121.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:21.734Z,1736357121.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.70 m.
2025-01-08T17:25:21.737Z,1736357121.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.700012 m,
      nav range: 285.037140 m,
      bearing: 268.757346 deg,
      approach rate: -0.670224 m/s,
      LOS rate: -0.007076 deg/s,
      cmd heading: 266.636351 deg,
      new cmd heading: 266.626745 deg.

2025-01-08T17:25:21.738Z,1736357121.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653514 target range: 300.700012 and range: 314.90 m.
2025-01-08T17:25:21.886Z,1736357121.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244661
2025-01-08T17:25:22.093Z,1736357122.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:22.105Z,1736357122.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:22.107Z,1736357122.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.70 m.
2025-01-08T17:25:22.110Z,1736357122.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.700012 m,
      nav range: 284.790222 m,
      bearing: 268.754714 deg,
      approach rate: -0.661921 m/s,
      LOS rate: -0.007063 deg/s,
      cmd heading: 266.626734 deg,
      new cmd heading: 266.618830 deg.

2025-01-08T17:25:22.111Z,1736357122.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653377 target range: 300.700012 and range: 314.90 m.
2025-01-08T17:25:22.139Z,1736357122.139 [DAT](INFO): DAT read: Rx Time:17:25:20.7543

2025-01-08T17:25:22.140Z,1736357122.140 [DAT](INFO): Rx dataTimestamp_ set to:1736357122.139150
2025-01-08T17:25:22.141Z,1736357122.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499790
2025-01-08T17:25:22.388Z,1736357122.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747426
2025-01-08T17:25:22.532Z,1736357122.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:22.540Z,1736357122.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.70 m.
2025-01-08T17:25:22.543Z,1736357122.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.700012 m,
      nav range: 284.496155 m,
      bearing: 268.751573 deg,
      approach rate: -0.678881 m/s,
      LOS rate: -0.007258 deg/s,
      cmd heading: 266.618838 deg,
      new cmd heading: 266.609406 deg.

2025-01-08T17:25:22.545Z,1736357122.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653212 target range: 300.700012 and range: 314.90 m.
2025-01-08T17:25:22.698Z,1736357122.698 [DAT](INFO): DAT read: 17:25:20.7543 LVL= 24720, 27489, 24402, 32755, AGC= 62, IDX= 400,-0.23, 1.089,-0.362, 1.068, 0.381, PHS= 0.796,-0.696, 0.684, RAW= 146.1, -10.9, CAL= 153.2, -19.5, ROT= 356.8,  19.5

2025-01-08T17:25:22.705Z,1736357122.705 [DAT](INFO): got valid direction response:
 17:25:20.7543 LVL= 24720, 27489, 24402, 32755, AGC= 62, IDX= 400,-0.23, 1.089,-0.362, 1.068, 0.381, PHS= 0.796,-0.696, 0.684, RAW= 146.1, -10.9, CAL= 153.2, -19.5, ROT= 356.8,  19.5

2025-01-08T17:25:22.706Z,1736357122.706 [DAT](INFO): DAT read: Bearing 356.8,  19.5 (Local)

2025-01-08T17:25:22.707Z,1736357122.707 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.8,  19.5 (Local)

2025-01-08T17:25:22.718Z,1736357122.718 [DAT](INFO): DAT read: Range 10 to 50 : 312.0 m  (Round-trip  416.0 ms) speed  1.0 m/s

2025-01-08T17:25:22.732Z,1736357122.732 [DAT](INFO): DAT read: user:128>

2025-01-08T17:25:22.733Z,1736357122.733 [DAT](INFO): DAT read: Tx time:17:25:21.8342

2025-01-08T17:25:22.734Z,1736357122.734 [DAT](INFO): Ping request sent.
2025-01-08T17:25:22.734Z,1736357122.734 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:25:22.735Z,1736357122.735 [DAT](INFO): DAT read: TxSync time:17:25:21.8334

2025-01-08T17:25:22.748Z,1736357122.748 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:25:22.749Z,1736357122.749 [DAT](INFO): direction in FSK: [0.941172,-0.052620,-0.333807]
2025-01-08T17:25:22.749Z,1736357122.749 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:22.749Z,1736357122.749 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:22.760Z,1736357122.760 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:22.761Z,1736357122.761 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:23.028Z,1736357123.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:23.051Z,1736357123.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 312.000000 m,
      deltaT: 4.035515 s,
      deltaX: -2.899994 m,
      approachRate: -0.718618 m/s,
      rangeRepo size: 4

2025-01-08T17:25:23.062Z,1736357123.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 312.000000 m,
      bearing: 265.485727 deg,
      lat: 36.904044 deg,
      lon: -122.119182 deg,
      deltaT: 7.817433 s,
      deltaX: 11.299988 m,
      approachRate: 1.445486 m/s,
      posRepo size: 4

2025-01-08T17:25:23.063Z,1736357123.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-08T17:25:23.070Z,1736357123.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 284.196625 m,
      bearing: 268.748637 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007258 deg/s,
      cmd heading: 266.609413 deg,
      new cmd heading: 266.598313 deg.

2025-01-08T17:25:23.075Z,1736357123.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653018 target range: 312.000000 and range: 312.00 m.
2025-01-08T17:25:23.493Z,1736357123.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:23.502Z,1736357123.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-08T17:25:23.505Z,1736357123.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 283.910309 m,
      bearing: 268.745825 deg,
      approach rate: -0.633236 m/s,
      LOS rate: -0.006226 deg/s,
      cmd heading: 266.598321 deg,
      new cmd heading: 266.589876 deg.

2025-01-08T17:25:23.506Z,1736357123.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652871 target range: 312.000000 and range: 312.00 m.
2025-01-08T17:25:23.908Z,1736357123.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:23.917Z,1736357123.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-08T17:25:23.940Z,1736357123.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 283.682159 m,
      bearing: 268.744045 deg,
      approach rate: -0.549719 m/s,
      LOS rate: -0.004294 deg/s,
      cmd heading: 266.589878 deg,
      new cmd heading: 266.584532 deg.

2025-01-08T17:25:23.941Z,1736357123.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652778 target range: 312.000000 and range: 312.00 m.
2025-01-08T17:25:24.284Z,1736357124.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:24.291Z,1736357124.291 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:24.293Z,1736357124.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-08T17:25:24.297Z,1736357124.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 283.476257 m,
      bearing: 268.742289 deg,
      approach rate: -0.548108 m/s,
      LOS rate: -0.004675 deg/s,
      cmd heading: 266.584524 deg,
      new cmd heading: 266.579254 deg.

2025-01-08T17:25:24.298Z,1736357124.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652686 target range: 312.000000 and range: 312.00 m.
2025-01-08T17:25:24.404Z,1736357124.404 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:25:24.404Z,1736357124.404 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:25:24.405Z,1736357124.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:25:24.659Z,1736357124.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.924628
2025-01-08T17:25:24.765Z,1736357124.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:24.774Z,1736357124.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-08T17:25:24.776Z,1736357124.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 283.231873 m,
      bearing: 268.740179 deg,
      approach rate: -0.508412 m/s,
      LOS rate: -0.004394 deg/s,
      cmd heading: 266.579251 deg,
      new cmd heading: 266.572914 deg.

2025-01-08T17:25:24.778Z,1736357124.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652575 target range: 312.000000 and range: 312.00 m.
2025-01-08T17:25:24.908Z,1736357124.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.174488
2025-01-08T17:25:25.094Z,1736357125.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:25.104Z,1736357125.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-08T17:25:25.106Z,1736357125.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 283.065399 m,
      bearing: 268.738581 deg,
      approach rate: -0.504820 m/s,
      LOS rate: -0.004850 deg/s,
      cmd heading: 266.572912 deg,
      new cmd heading: 266.568115 deg.

2025-01-08T17:25:25.108Z,1736357125.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652491 target range: 312.000000 and range: 312.00 m.
2025-01-08T17:25:25.162Z,1736357125.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.427987
2025-01-08T17:25:25.413Z,1736357125.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.678858
2025-01-08T17:25:25.496Z,1736357125.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:25.505Z,1736357125.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-08T17:25:25.507Z,1736357125.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 282.861542 m,
      bearing: 268.736460 deg,
      approach rate: -0.508139 m/s,
      LOS rate: -0.005290 deg/s,
      cmd heading: 266.568104 deg,
      new cmd heading: 266.561737 deg.

2025-01-08T17:25:25.508Z,1736357125.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652380 target range: 312.000000 and range: 312.00 m.
2025-01-08T17:25:25.667Z,1736357125.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.932936
2025-01-08T17:25:25.916Z,1736357125.916 [DAT](INFO): DAT read: Rx Time:17:25:24.6480

2025-01-08T17:25:25.917Z,1736357125.917 [DAT](INFO): Rx dataTimestamp_ set to:1736357125.916620
2025-01-08T17:25:25.917Z,1736357125.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.183714
2025-01-08T17:25:25.941Z,1736357125.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:26.004Z,1736357126.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-08T17:25:26.007Z,1736357126.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 282.642151 m,
      bearing: 268.735667 deg,
      approach rate: -0.439278 m/s,
      LOS rate: -0.001589 deg/s,
      cmd heading: 266.561738 deg,
      new cmd heading: 266.559357 deg.

2025-01-08T17:25:26.012Z,1736357126.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652339 target range: 312.000000 and range: 312.00 m.
2025-01-08T17:25:26.168Z,1736357126.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.434545
2025-01-08T17:25:26.305Z,1736357126.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:26.319Z,1736357126.319 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:26.321Z,1736357126.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.00 m.
2025-01-08T17:25:26.324Z,1736357126.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 312.000000 m,
      nav range: 282.462799 m,
      bearing: 268.734754 deg,
      approach rate: -0.565025 m/s,
      LOS rate: -0.002878 deg/s,
      cmd heading: 266.559361 deg,
      new cmd heading: 266.556620 deg.

2025-01-08T17:25:26.325Z,1736357126.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652291 target range: 312.000000 and range: 312.00 m.
2025-01-08T17:25:26.426Z,1736357126.426 [DAT](INFO): DAT read: 17:25:24.6480 LVL= 24128, 30241, 24450, 32755, AGC= 63, IDX= 382,-0.08,-0.975,-2.356,-1.025,-1.738, PHS= 0.851,-0.571, 0.710, RAW= 144.9, -14.5, CAL= 151.4, -22.8, ROT= 358.6,  22.8

2025-01-08T17:25:26.428Z,1736357126.428 [DAT](INFO): got valid direction response:
 17:25:24.6480 LVL= 24128, 30241, 24450, 32755, AGC= 63, IDX= 382,-0.08,-0.975,-2.356,-1.025,-1.738, PHS= 0.851,-0.571, 0.710, RAW= 144.9, -14.5, CAL= 151.4, -22.8, ROT= 358.6,  22.8

2025-01-08T17:25:26.429Z,1736357126.429 [DAT](INFO): DAT read: Bearing 358.6,  22.8 (Local)

2025-01-08T17:25:26.429Z,1736357126.429 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.6,  22.8 (Local)

2025-01-08T17:25:26.432Z,1736357126.432 [DAT](INFO): DAT read: Range 10 to 50 : 307.2 m  (Round-trip  409.6 ms) speed  0.8 m/s

2025-01-08T17:25:26.433Z,1736357126.433 [DAT](INFO): DAT read: user:129>

2025-01-08T17:25:26.434Z,1736357126.434 [DAT](INFO): DAT read: Tx time:17:25:25.7342

2025-01-08T17:25:26.434Z,1736357126.434 [DAT](INFO): Ping request sent.
2025-01-08T17:25:26.435Z,1736357126.435 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:25:26.436Z,1736357126.436 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:25:26.437Z,1736357126.437 [DAT](INFO): direction in FSK: [0.921588,-0.022523,-0.387516]
2025-01-08T17:25:26.438Z,1736357126.438 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:26.439Z,1736357126.439 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:26.449Z,1736357126.449 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:26.449Z,1736357126.449 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:26.672Z,1736357126.672 [DAT](INFO): DAT read: TxSync time:17:25:25.7334

2025-01-08T17:25:26.806Z,1736357126.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:26.845Z,1736357126.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 307.200012 m,
      deltaT: 3.778512 s,
      deltaX: -4.799988 m,
      approachRate: -1.270338 m/s,
      rangeRepo size: 4

2025-01-08T17:25:26.852Z,1736357126.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 307.200012 m,
      bearing: 269.132218 deg,
      lat: 36.904044 deg,
      lon: -122.119201 deg,
      deltaT: 3.778512 s,
      deltaX: -4.799988 m,
      approachRate: -1.270338 m/s,
      posRepo size: 4

2025-01-08T17:25:26.853Z,1736357126.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.20 m.
2025-01-08T17:25:26.868Z,1736357126.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.200012 m,
      nav range: 283.931091 m,
      bearing: 268.741900 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002878 deg/s,
      cmd heading: 266.556629 deg,
      new cmd heading: 266.552115 deg.

2025-01-08T17:25:26.869Z,1736357126.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652212 target range: 307.200012 and range: 307.20 m.
2025-01-08T17:25:27.168Z,1736357127.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:27.192Z,1736357127.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.20 m.
2025-01-08T17:25:27.195Z,1736357127.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.200012 m,
      nav range: 283.744019 m,
      bearing: 268.741472 deg,
      approach rate: -0.537793 m/s,
      LOS rate: -0.001231 deg/s,
      cmd heading: 266.552121 deg,
      new cmd heading: 266.550837 deg.

2025-01-08T17:25:27.196Z,1736357127.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652190 target range: 307.200012 and range: 307.20 m.
2025-01-08T17:25:27.572Z,1736357127.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:27.581Z,1736357127.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.20 m.
2025-01-08T17:25:27.584Z,1736357127.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.200012 m,
      nav range: 283.534912 m,
      bearing: 268.741029 deg,
      approach rate: -0.537252 m/s,
      LOS rate: -0.001139 deg/s,
      cmd heading: 266.550837 deg,
      new cmd heading: 266.549507 deg.

2025-01-08T17:25:27.585Z,1736357127.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652166 target range: 307.200012 and range: 307.20 m.
2025-01-08T17:25:27.996Z,1736357127.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:28.004Z,1736357128.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.20 m.
2025-01-08T17:25:28.007Z,1736357128.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.200012 m,
      nav range: 283.294281 m,
      bearing: 268.740862 deg,
      approach rate: -0.568575 m/s,
      LOS rate: -0.000394 deg/s,
      cmd heading: 266.549498 deg,
      new cmd heading: 266.548998 deg.

2025-01-08T17:25:28.008Z,1736357128.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652158 target range: 307.200012 and range: 307.20 m.
2025-01-08T17:25:28.398Z,1736357128.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:28.405Z,1736357128.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:28.407Z,1736357128.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.20 m.
2025-01-08T17:25:28.410Z,1736357128.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.200012 m,
      nav range: 283.065948 m,
      bearing: 268.740617 deg,
      approach rate: -0.567423 m/s,
      LOS rate: -0.000609 deg/s,
      cmd heading: 266.549007 deg,
      new cmd heading: 266.548271 deg.

2025-01-08T17:25:28.412Z,1736357128.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652145 target range: 307.200012 and range: 307.20 m.
2025-01-08T17:25:28.436Z,1736357128.436 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:25:28.436Z,1736357128.436 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:25:28.436Z,1736357128.436 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:25:28.689Z,1736357128.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254386
2025-01-08T17:25:28.838Z,1736357128.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:28.848Z,1736357128.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.20 m.
2025-01-08T17:25:28.850Z,1736357128.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.200012 m,
      nav range: 282.776886 m,
      bearing: 268.740949 deg,
      approach rate: -0.656112 m/s,
      LOS rate: 0.000753 deg/s,
      cmd heading: 266.548269 deg,
      new cmd heading: 266.549265 deg.

2025-01-08T17:25:28.851Z,1736357128.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652162 target range: 307.200012 and range: 307.20 m.
2025-01-08T17:25:28.940Z,1736357128.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505829
2025-01-08T17:25:29.112Z,1736357129.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:25:29.192Z,1736357129.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757830
2025-01-08T17:25:29.193Z,1736357129.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:29.227Z,1736357129.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.20 m.
2025-01-08T17:25:29.234Z,1736357129.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.200012 m,
      nav range: 282.542938 m,
      bearing: 268.741141 deg,
      approach rate: -0.616413 m/s,
      LOS rate: 0.000508 deg/s,
      cmd heading: 266.549253 deg,
      new cmd heading: 266.549831 deg.

2025-01-08T17:25:29.235Z,1736357129.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652172 target range: 307.200012 and range: 307.20 m.
2025-01-08T17:25:29.445Z,1736357129.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010400
2025-01-08T17:25:29.616Z,1736357129.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:29.625Z,1736357129.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.20 m.
2025-01-08T17:25:29.629Z,1736357129.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.200012 m,
      nav range: 282.264923 m,
      bearing: 268.741371 deg,
      approach rate: -0.698024 m/s,
      LOS rate: 0.000577 deg/s,
      cmd heading: 266.549826 deg,
      new cmd heading: 266.550515 deg.

2025-01-08T17:25:29.630Z,1736357129.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652184 target range: 307.200012 and range: 307.20 m.
2025-01-08T17:25:29.698Z,1736357129.698 [DAT](INFO): DAT read: Rx Time:17:25:28.5264

2025-01-08T17:25:29.698Z,1736357129.698 [DAT](INFO): Rx dataTimestamp_ set to:1736357129.698094
2025-01-08T17:25:29.700Z,1736357129.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264995
2025-01-08T17:25:29.948Z,1736357129.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513725
2025-01-08T17:25:30.025Z,1736357130.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:30.034Z,1736357130.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.20 m.
2025-01-08T17:25:30.037Z,1736357130.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.200012 m,
      nav range: 281.953979 m,
      bearing: 268.740987 deg,
      approach rate: -0.759911 m/s,
      LOS rate: -0.000940 deg/s,
      cmd heading: 266.550509 deg,
      new cmd heading: 266.549356 deg.

2025-01-08T17:25:30.038Z,1736357130.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652164 target range: 307.200012 and range: 307.20 m.
2025-01-08T17:25:30.116Z,1736357130.116 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:25:30.200Z,1736357130.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765599
2025-01-08T17:25:30.416Z,1736357130.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:30.422Z,1736357130.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:30.424Z,1736357130.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.20 m.
2025-01-08T17:25:30.427Z,1736357130.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.200012 m,
      nav range: 281.657532 m,
      bearing: 268.740766 deg,
      approach rate: -0.760148 m/s,
      LOS rate: -0.000567 deg/s,
      cmd heading: 266.549362 deg,
      new cmd heading: 266.548698 deg.

2025-01-08T17:25:30.429Z,1736357130.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652153 target range: 307.200012 and range: 307.20 m.
2025-01-08T17:25:30.459Z,1736357130.459 [DAT](INFO): DAT read: 17:25:28.5264 LVL= 19824, 19777, 18818, 26659, AGC= 67, IDX= 225,-0.16,-1.570,-2.854,-1.588,-2.339, PHS= 0.856,-0.468, 0.748, RAW= 145.8, -17.5, CAL= 151.7, -25.2, ROT= 358.3,  25.2

2025-01-08T17:25:30.464Z,1736357130.464 [DAT](INFO): got valid direction response:
 17:25:28.5264 LVL= 19824, 19777, 18818, 26659, AGC= 67, IDX= 225,-0.16,-1.570,-2.854,-1.588,-2.339, PHS= 0.856,-0.468, 0.748, RAW= 145.8, -17.5, CAL= 151.7, -25.2, ROT= 358.3,  25.2

2025-01-08T17:25:30.465Z,1736357130.465 [DAT](INFO): DAT read: Bearing 358.3,  25.2 (Local)

2025-01-08T17:25:30.465Z,1736357130.465 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.3,  25.2 (Local)

2025-01-08T17:25:30.467Z,1736357130.467 [DAT](INFO): DAT read: Range 10 to 50 : 290.9 m  (Round-trip  387.9 ms) speed  0.1 m/s

2025-01-08T17:25:30.476Z,1736357130.476 [DAT](INFO): DAT read: user:130>

2025-01-08T17:25:30.477Z,1736357130.477 [DAT](INFO): DAT read: Tx time:17:25:29.6343

2025-01-08T17:25:30.477Z,1736357130.477 [DAT](INFO): Ping request sent.
2025-01-08T17:25:30.477Z,1736357130.477 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:25:30.478Z,1736357130.478 [DAT](INFO): DAT read: TxSync time:17:25:29.6335

2025-01-08T17:25:30.479Z,1736357130.479 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:25:30.488Z,1736357130.488 [DAT](INFO): direction in FSK: [0.904429,-0.026843,-0.425779]
2025-01-08T17:25:30.488Z,1736357130.488 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:30.489Z,1736357130.489 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:30.500Z,1736357130.500 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:30.500Z,1736357130.500 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:30.852Z,1736357130.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:30.892Z,1736357130.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 290.899994 m,
      deltaT: 4.032020 s,
      deltaX: -16.300018 m,
      approachRate: -4.042643 m/s,
      rangeRepo size: 4

2025-01-08T17:25:30.905Z,1736357130.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 290.899994 m,
      bearing: 268.865685 deg,
      lat: 36.904052 deg,
      lon: -122.119182 deg,
      deltaT: 4.032020 s,
      deltaX: -16.300018 m,
      approachRate: -4.042643 m/s,
      posRepo size: 4

2025-01-08T17:25:30.906Z,1736357130.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.90 m.
2025-01-08T17:25:30.918Z,1736357130.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.899994 m,
      nav range: 279.544830 m,
      bearing: 268.919798 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000567 deg/s,
      cmd heading: 266.548706 deg,
      new cmd heading: 266.547916 deg.

2025-01-08T17:25:30.919Z,1736357130.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652139 target range: 290.899994 and range: 290.90 m.
2025-01-08T17:25:31.230Z,1736357131.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:31.241Z,1736357131.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.90 m.
2025-01-08T17:25:31.244Z,1736357131.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.899994 m,
      nav range: 279.227631 m,
      bearing: 268.920036 deg,
      approach rate: -0.900481 m/s,
      LOS rate: 0.000676 deg/s,
      cmd heading: 266.547914 deg,
      new cmd heading: 266.548628 deg.

2025-01-08T17:25:31.245Z,1736357131.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652151 target range: 290.899994 and range: 290.90 m.
2025-01-08T17:25:31.628Z,1736357131.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:31.653Z,1736357131.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.90 m.
2025-01-08T17:25:31.660Z,1736357131.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.899994 m,
      nav range: 278.893219 m,
      bearing: 268.920628 deg,
      approach rate: -0.811348 m/s,
      LOS rate: 0.001438 deg/s,
      cmd heading: 266.548624 deg,
      new cmd heading: 266.550403 deg.

2025-01-08T17:25:31.662Z,1736357131.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652182 target range: 290.899994 and range: 290.90 m.
2025-01-08T17:25:32.071Z,1736357132.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:32.081Z,1736357132.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.90 m.
2025-01-08T17:25:32.084Z,1736357132.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.899994 m,
      nav range: 278.498291 m,
      bearing: 268.919982 deg,
      approach rate: -0.923609 m/s,
      LOS rate: -0.001513 deg/s,
      cmd heading: 266.550400 deg,
      new cmd heading: 266.548459 deg.

2025-01-08T17:25:32.085Z,1736357132.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652148 target range: 290.899994 and range: 290.90 m.
2025-01-08T17:25:32.450Z,1736357132.450 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:32.457Z,1736357132.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:32.459Z,1736357132.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.90 m.
2025-01-08T17:25:32.463Z,1736357132.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.899994 m,
      nav range: 278.160095 m,
      bearing: 268.919577 deg,
      approach rate: -0.894662 m/s,
      LOS rate: -0.001074 deg/s,
      cmd heading: 266.548460 deg,
      new cmd heading: 266.547242 deg.

2025-01-08T17:25:32.464Z,1736357132.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652127 target range: 290.899994 and range: 290.90 m.
2025-01-08T17:25:32.468Z,1736357132.468 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:25:32.468Z,1736357132.468 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:25:32.468Z,1736357132.468 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:25:32.721Z,1736357132.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243522
2025-01-08T17:25:32.880Z,1736357132.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:32.889Z,1736357132.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.90 m.
2025-01-08T17:25:32.892Z,1736357132.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.899994 m,
      nav range: 277.770020 m,
      bearing: 268.918448 deg,
      approach rate: -0.907229 m/s,
      LOS rate: -0.002629 deg/s,
      cmd heading: 266.547231 deg,
      new cmd heading: 266.543839 deg.

2025-01-08T17:25:32.893Z,1736357132.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652068 target range: 290.899994 and range: 290.90 m.
2025-01-08T17:25:32.973Z,1736357132.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495966
2025-01-08T17:25:33.224Z,1736357133.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746817
2025-01-08T17:25:33.248Z,1736357133.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:33.257Z,1736357133.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.90 m.
2025-01-08T17:25:33.260Z,1736357133.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.899994 m,
      nav range: 277.435852 m,
      bearing: 268.917638 deg,
      approach rate: -0.907258 m/s,
      LOS rate: -0.002201 deg/s,
      cmd heading: 266.543843 deg,
      new cmd heading: 266.541411 deg.

2025-01-08T17:25:33.262Z,1736357133.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652025 target range: 290.899994 and range: 290.90 m.
2025-01-08T17:25:33.476Z,1736357133.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998765
2025-01-08T17:25:33.648Z,1736357133.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:33.656Z,1736357133.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.90 m.
2025-01-08T17:25:33.659Z,1736357133.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.899994 m,
      nav range: 277.073273 m,
      bearing: 268.916991 deg,
      approach rate: -0.907501 m/s,
      LOS rate: -0.001620 deg/s,
      cmd heading: 266.541411 deg,
      new cmd heading: 266.539469 deg.

2025-01-08T17:25:33.661Z,1736357133.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651991 target range: 290.899994 and range: 290.90 m.
2025-01-08T17:25:33.729Z,1736357133.729 [DAT](INFO): DAT read: Rx Time:17:25:32.4240

2025-01-08T17:25:33.730Z,1736357133.730 [DAT](INFO): Rx dataTimestamp_ set to:1736357133.729417
2025-01-08T17:25:33.731Z,1736357133.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253135
2025-01-08T17:25:33.980Z,1736357133.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502732
2025-01-08T17:25:34.078Z,1736357134.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:34.086Z,1736357134.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.90 m.
2025-01-08T17:25:34.090Z,1736357134.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 290.899994 m,
      nav range: 276.698639 m,
      bearing: 268.916599 deg,
      approach rate: -0.871499 m/s,
      LOS rate: -0.000915 deg/s,
      cmd heading: 266.539472 deg,
      new cmd heading: 266.538292 deg.

2025-01-08T17:25:34.091Z,1736357134.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651971 target range: 290.899994 and range: 290.90 m.
2025-01-08T17:25:34.239Z,1736357134.239 [DAT](INFO): DAT read: 17:25:32.4240 LVL= 19984, 26913, 18290, 25267, AGC= 66, IDX= 427, 0.24, 1.038,-0.294, 0.904, 0.633, PHS= 0.493,-0.880, 0.269, RAW= 141.2,   1.9, CAL= 145.3,  -6.8, ROT=   4.7,   6.8

2025-01-08T17:25:34.240Z,1736357134.240 [DAT](INFO): got valid direction response:
 17:25:32.4240 LVL= 19984, 26913, 18290, 25267, AGC= 66, IDX= 427, 0.24, 1.038,-0.294, 0.904, 0.633, PHS= 0.493,-0.880, 0.269, RAW= 141.2,   1.9, CAL= 145.3,  -6.8, ROT=   4.7,   6.8

2025-01-08T17:25:34.241Z,1736357134.241 [DAT](INFO): DAT read: Bearing   4.7,   6.8 (Local)

2025-01-08T17:25:34.241Z,1736357134.241 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.7,   6.8 (Local)

2025-01-08T17:25:34.243Z,1736357134.243 [DAT](INFO): DAT read: Range 10 to 50 : 289.1 m  (Round-trip  385.5 ms) speed  0.7 m/s

2025-01-08T17:25:34.245Z,1736357134.245 [DAT](INFO): DAT read: user:131>

2025-01-08T17:25:34.246Z,1736357134.246 [DAT](INFO): DAT read: Tx time:17:25:33.5343

2025-01-08T17:25:34.246Z,1736357134.246 [DAT](INFO): Ping request sent.
2025-01-08T17:25:34.246Z,1736357134.246 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:25:34.246Z,1736357134.246 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:25:34.248Z,1736357134.248 [DAT](INFO): direction in FSK: [0.989627,0.081362,-0.118404]
2025-01-08T17:25:34.248Z,1736357134.248 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:34.249Z,1736357134.249 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:34.256Z,1736357134.256 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:34.256Z,1736357134.256 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:34.485Z,1736357134.485 [DAT](INFO): DAT read: TxSync time:17:25:33.5335

2025-01-08T17:25:34.486Z,1736357134.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:34.513Z,1736357134.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 289.100006 m,
      deltaT: 3.780366 s,
      deltaX: -1.799988 m,
      approachRate: -0.476141 m/s,
      rangeRepo size: 4

2025-01-08T17:25:34.520Z,1736357134.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 289.100006 m,
      bearing: 271.432919 deg,
      lat: 36.904052 deg,
      lon: -122.119223 deg,
      deltaT: 3.780366 s,
      deltaX: -1.799988 m,
      approachRate: -0.476141 m/s,
      posRepo size: 4

2025-01-08T17:25:34.520Z,1736357134.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.10 m.
2025-01-08T17:25:34.523Z,1736357134.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.100006 m,
      nav range: 279.950500 m,
      bearing: 268.930391 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000915 deg/s,
      cmd heading: 266.538297 deg,
      new cmd heading: 266.537127 deg.

2025-01-08T17:25:34.529Z,1736357134.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651950 target range: 289.100006 and range: 289.10 m.
2025-01-08T17:25:34.912Z,1736357134.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:34.918Z,1736357134.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:34.921Z,1736357134.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.10 m.
2025-01-08T17:25:34.923Z,1736357134.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.100006 m,
      nav range: 279.608246 m,
      bearing: 268.928885 deg,
      approach rate: -0.839090 m/s,
      LOS rate: -0.003697 deg/s,
      cmd heading: 266.537122 deg,
      new cmd heading: 266.532598 deg.

2025-01-08T17:25:34.925Z,1736357134.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651871 target range: 289.100006 and range: 289.10 m.
2025-01-08T17:25:34.990Z,1736357134.990 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:25:34.991Z,1736357134.991 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:25:34.991Z,1736357134.991 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:25:35.245Z,1736357135.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999023
2025-01-08T17:25:35.280Z,1736357135.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:35.289Z,1736357135.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.10 m.
2025-01-08T17:25:35.292Z,1736357135.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.100006 m,
      nav range: 279.310150 m,
      bearing: 268.927805 deg,
      approach rate: -0.809717 m/s,
      LOS rate: -0.002936 deg/s,
      cmd heading: 266.532587 deg,
      new cmd heading: 266.529345 deg.

2025-01-08T17:25:35.293Z,1736357135.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651814 target range: 289.100006 and range: 289.10 m.
2025-01-08T17:25:35.496Z,1736357135.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250055
2025-01-08T17:25:35.673Z,1736357135.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:35.682Z,1736357135.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.10 m.
2025-01-08T17:25:35.688Z,1736357135.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.100006 m,
      nav range: 278.993591 m,
      bearing: 268.926743 deg,
      approach rate: -0.804000 m/s,
      LOS rate: -0.002702 deg/s,
      cmd heading: 266.529336 deg,
      new cmd heading: 266.526144 deg.

2025-01-08T17:25:35.689Z,1736357135.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651759 target range: 289.100006 and range: 289.10 m.
2025-01-08T17:25:35.749Z,1736357135.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502593
2025-01-08T17:25:36.000Z,1736357136.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754129
2025-01-08T17:25:36.109Z,1736357136.109 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:36.118Z,1736357136.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.10 m.
2025-01-08T17:25:36.121Z,1736357136.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.100006 m,
      nav range: 278.681458 m,
      bearing: 268.925209 deg,
      approach rate: -0.716191 m/s,
      LOS rate: -0.003523 deg/s,
      cmd heading: 266.526139 deg,
      new cmd heading: 266.521533 deg.

2025-01-08T17:25:36.122Z,1736357136.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651678 target range: 289.100006 and range: 289.10 m.
2025-01-08T17:25:36.252Z,1736357136.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006088
2025-01-08T17:25:36.475Z,1736357136.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:36.504Z,1736357136.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258251
2025-01-08T17:25:36.506Z,1736357136.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.10 m.
2025-01-08T17:25:36.509Z,1736357136.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.100006 m,
      nav range: 278.419434 m,
      bearing: 268.923798 deg,
      approach rate: -0.675704 m/s,
      LOS rate: -0.003641 deg/s,
      cmd heading: 266.521522 deg,
      new cmd heading: 266.517286 deg.

2025-01-08T17:25:36.510Z,1736357136.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651604 target range: 289.100006 and range: 289.10 m.
2025-01-08T17:25:36.757Z,1736357136.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510568
2025-01-08T17:25:36.939Z,1736357136.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:36.947Z,1736357136.947 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:36.949Z,1736357136.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.10 m.
2025-01-08T17:25:36.952Z,1736357136.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.100006 m,
      nav range: 278.132599 m,
      bearing: 268.921961 deg,
      approach rate: -0.647336 m/s,
      LOS rate: -0.004150 deg/s,
      cmd heading: 266.517287 deg,
      new cmd heading: 266.511770 deg.

2025-01-08T17:25:36.953Z,1736357136.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651508 target range: 289.100006 and range: 289.10 m.
2025-01-08T17:25:37.008Z,1736357137.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762231
2025-01-08T17:25:37.261Z,1736357137.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014056
2025-01-08T17:25:37.292Z,1736357137.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:37.303Z,1736357137.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.10 m.
2025-01-08T17:25:37.306Z,1736357137.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.100006 m,
      nav range: 277.914276 m,
      bearing: 268.920450 deg,
      approach rate: -0.617242 m/s,
      LOS rate: -0.004275 deg/s,
      cmd heading: 266.511768 deg,
      new cmd heading: 266.507232 deg.

2025-01-08T17:25:37.307Z,1736357137.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651429 target range: 289.100006 and range: 289.10 m.
2025-01-08T17:25:37.515Z,1736357137.515 [DAT](INFO): DAT read: Rx Time:17:25:36.3402

2025-01-08T17:25:37.518Z,1736357137.518 [DAT](INFO): Rx dataTimestamp_ set to:1736357137.518160
2025-01-08T17:25:37.519Z,1736357137.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272907
2025-01-08T17:25:37.707Z,1736357137.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:37.721Z,1736357137.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.10 m.
2025-01-08T17:25:37.724Z,1736357137.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.100006 m,
      nav range: 277.658020 m,
      bearing: 268.918500 deg,
      approach rate: -0.613251 m/s,
      LOS rate: -0.004671 deg/s,
      cmd heading: 266.507233 deg,
      new cmd heading: 266.501378 deg.

2025-01-08T17:25:37.726Z,1736357137.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651327 target range: 289.100006 and range: 289.10 m.
2025-01-08T17:25:37.764Z,1736357137.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518134
2025-01-08T17:25:38.018Z,1736357138.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772311
2025-01-08T17:25:38.149Z,1736357138.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:38.157Z,1736357138.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.10 m.
2025-01-08T17:25:38.161Z,1736357138.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.100006 m,
      nav range: 277.423553 m,
      bearing: 268.916821 deg,
      approach rate: -0.536907 m/s,
      LOS rate: -0.003850 deg/s,
      cmd heading: 266.501387 deg,
      new cmd heading: 266.496343 deg.

2025-01-08T17:25:38.162Z,1736357138.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651238 target range: 289.100006 and range: 289.10 m.
2025-01-08T17:25:38.280Z,1736357138.280 [DAT](INFO): DAT read: 17:25:36.3402 LVL= 20208, 23201, 18370, 25459, AGC= 69, IDX=  94,-0.30,-1.846, 2.999,-1.845,-2.635, PHS= 0.876,-0.602, 0.786, RAW= 146.9, -14.6, CAL= 153.4, -22.6, ROT= 356.6,  22.6

2025-01-08T17:25:38.286Z,1736357138.286 [DAT](INFO): got valid direction response:
 17:25:36.3402 LVL= 20208, 23201, 18370, 25459, AGC= 69, IDX=  94,-0.30,-1.846, 2.999,-1.845,-2.635, PHS= 0.876,-0.602, 0.786, RAW= 146.9, -14.6, CAL= 153.4, -22.6, ROT= 356.6,  22.6

2025-01-08T17:25:38.287Z,1736357138.287 [DAT](INFO): DAT read: Bearing 356.6,  22.6 (Local)

2025-01-08T17:25:38.288Z,1736357138.288 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.6,  22.6 (Local)

2025-01-08T17:25:38.289Z,1736357138.289 [DAT](INFO): DAT read: Range 10 to 50 : 301.2 m  (Round-trip  401.7 ms) speed  0.7 m/s

2025-01-08T17:25:38.290Z,1736357138.290 [DAT](INFO): DAT read: user:132>

2025-01-08T17:25:38.291Z,1736357138.291 [DAT](INFO): DAT read: Tx time:17:25:37.4343

2025-01-08T17:25:38.312Z,1736357138.312 [DAT](INFO): Ping request sent.
2025-01-08T17:25:38.313Z,1736357138.313 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:25:38.320Z,1736357138.320 [DAT](INFO): DAT read: TxSync time:17:25:37.4335

2025-01-08T17:25:38.320Z,1736357138.320 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:25:38.321Z,1736357138.321 [DAT](INFO): direction in FSK: [0.921585,-0.054752,-0.384295]
2025-01-08T17:25:38.321Z,1736357138.321 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:38.322Z,1736357138.322 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:38.334Z,1736357138.334 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:38.335Z,1736357138.335 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:38.584Z,1736357138.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:38.599Z,1736357138.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 301.200012 m,
      deltaT: 4.039723 s,
      deltaX: 12.100006 m,
      approachRate: 2.995256 m/s,
      rangeRepo size: 4

2025-01-08T17:25:38.601Z,1736357138.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 301.200012 m,
      bearing: 266.529096 deg,
      lat: 36.904052 deg,
      lon: -122.119272 deg,
      deltaT: 4.039723 s,
      deltaX: 12.100006 m,
      approachRate: 2.995256 m/s,
      posRepo size: 4

2025-01-08T17:25:38.602Z,1736357138.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.20 m.
2025-01-08T17:25:38.604Z,1736357138.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.200012 m,
      nav range: 281.554077 m,
      bearing: 268.931675 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003850 deg/s,
      cmd heading: 266.496332 deg,
      new cmd heading: 266.491244 deg.

2025-01-08T17:25:38.605Z,1736357138.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651150 target range: 301.200012 and range: 301.20 m.
2025-01-08T17:25:39.024Z,1736357139.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:39.033Z,1736357139.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:39.047Z,1736357139.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.20 m.
2025-01-08T17:25:39.050Z,1736357139.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.200012 m,
      nav range: 281.345673 m,
      bearing: 268.930524 deg,
      approach rate: -0.476820 m/s,
      LOS rate: -0.002637 deg/s,
      cmd heading: 266.491251 deg,
      new cmd heading: 266.487793 deg.

2025-01-08T17:25:39.051Z,1736357139.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651089 target range: 301.200012 and range: 301.20 m.
2025-01-08T17:25:39.284Z,1736357139.284 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:25:39.285Z,1736357139.285 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:25:39.285Z,1736357139.285 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:25:39.490Z,1736357139.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:39.499Z,1736357139.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.20 m.
2025-01-08T17:25:39.501Z,1736357139.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.200012 m,
      nav range: 281.124817 m,
      bearing: 268.929039 deg,
      approach rate: -0.476438 m/s,
      LOS rate: -0.003206 deg/s,
      cmd heading: 266.487781 deg,
      new cmd heading: 266.483322 deg.

2025-01-08T17:25:39.502Z,1736357139.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651011 target range: 301.200012 and range: 301.20 m.
2025-01-08T17:25:39.536Z,1736357139.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245138
2025-01-08T17:25:39.788Z,1736357139.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497278
2025-01-08T17:25:39.969Z,1736357139.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:39.000Z,1736357140.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.20 m.
2025-01-08T17:25:40.002Z,1736357140.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.200012 m,
      nav range: 280.906616 m,
      bearing: 268.927026 deg,
      approach rate: -0.453921 m/s,
      LOS rate: -0.004190 deg/s,
      cmd heading: 266.483328 deg,
      new cmd heading: 266.477286 deg.

2025-01-08T17:25:40.008Z,1736357140.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650906 target range: 301.200012 and range: 301.20 m.
2025-01-08T17:25:40.041Z,1736357140.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749378
2025-01-08T17:25:40.293Z,1736357140.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001490
2025-01-08T17:25:40.294Z,1736357140.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:40.305Z,1736357140.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.20 m.
2025-01-08T17:25:40.308Z,1736357140.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.200012 m,
      nav range: 280.759033 m,
      bearing: 268.925417 deg,
      approach rate: -0.453056 m/s,
      LOS rate: -0.004944 deg/s,
      cmd heading: 266.477290 deg,
      new cmd heading: 266.472458 deg.

2025-01-08T17:25:40.309Z,1736357140.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650822 target range: 301.200012 and range: 301.20 m.
2025-01-08T17:25:40.544Z,1736357140.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253231
2025-01-08T17:25:40.705Z,1736357140.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:40.719Z,1736357140.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.20 m.
2025-01-08T17:25:40.722Z,1736357140.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.200012 m,
      nav range: 280.571838 m,
      bearing: 268.923244 deg,
      approach rate: -0.452779 m/s,
      LOS rate: -0.005258 deg/s,
      cmd heading: 266.472454 deg,
      new cmd heading: 266.465932 deg.

2025-01-08T17:25:40.724Z,1736357140.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650708 target range: 301.200012 and range: 301.20 m.
2025-01-08T17:25:40.800Z,1736357140.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508401
2025-01-08T17:25:41.053Z,1736357141.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762344
2025-01-08T17:25:41.127Z,1736357141.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:41.165Z,1736357141.165 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:41.167Z,1736357141.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.20 m.
2025-01-08T17:25:41.170Z,1736357141.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.200012 m,
      nav range: 280.367371 m,
      bearing: 268.921265 deg,
      approach rate: -0.456138 m/s,
      LOS rate: -0.004418 deg/s,
      cmd heading: 266.465924 deg,
      new cmd heading: 266.459983 deg.

2025-01-08T17:25:41.171Z,1736357141.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650604 target range: 301.200012 and range: 301.20 m.
2025-01-08T17:25:41.305Z,1736357141.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013670
2025-01-08T17:25:41.509Z,1736357141.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:41.522Z,1736357141.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.20 m.
2025-01-08T17:25:41.525Z,1736357141.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.200012 m,
      nav range: 280.182159 m,
      bearing: 268.919404 deg,
      approach rate: -0.521679 m/s,
      LOS rate: -0.005245 deg/s,
      cmd heading: 266.459996 deg,
      new cmd heading: 266.454410 deg.

2025-01-08T17:25:41.526Z,1736357141.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650507 target range: 301.200012 and range: 301.20 m.
2025-01-08T17:25:41.556Z,1736357141.556 [DAT](INFO): DAT read: Rx Time:17:25:40.2360

2025-01-08T17:25:41.557Z,1736357141.557 [DAT](INFO): Rx dataTimestamp_ set to:1736357141.556487
2025-01-08T17:25:41.557Z,1736357141.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266194
2025-01-08T17:25:41.808Z,1736357141.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517157
2025-01-08T17:25:42.022Z,1736357142.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:42.032Z,1736357142.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.20 m.
2025-01-08T17:25:42.034Z,1736357142.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.200012 m,
      nav range: 279.903229 m,
      bearing: 268.917060 deg,
      approach rate: -0.547708 m/s,
      LOS rate: -0.004607 deg/s,
      cmd heading: 266.454422 deg,
      new cmd heading: 266.447383 deg.

2025-01-08T17:25:42.035Z,1736357142.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650384 target range: 301.200012 and range: 301.20 m.
2025-01-08T17:25:42.068Z,1736357142.068 [DAT](INFO): DAT read: 17:25:40.2360 LVL= 20448, 27553, 24114, 32755, AGC= 60, IDX= 401,-0.48, 2.293, 1.035, 2.197, 1.602, PHS= 0.779,-0.520, 0.592, RAW= 142.4, -13.9, CAL= 148.9, -22.6, ROT=   1.1,  22.6

2025-01-08T17:25:42.070Z,1736357142.070 [DAT](INFO): got valid direction response:
 17:25:40.2360 LVL= 20448, 27553, 24114, 32755, AGC= 60, IDX= 401,-0.48, 2.293, 1.035, 2.197, 1.602, PHS= 0.779,-0.520, 0.592, RAW= 142.4, -13.9, CAL= 148.9, -22.6, ROT=   1.1,  22.6

2025-01-08T17:25:42.071Z,1736357142.071 [DAT](INFO): DAT read: Bearing   1.1,  22.6 (Local)

2025-01-08T17:25:42.076Z,1736357142.076 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.1,  22.6 (Local)

2025-01-08T17:25:42.078Z,1736357142.078 [DAT](INFO): DAT read: Range 10 to 50 : 298.0 m  (Round-trip  397.4 ms) speed  0.5 m/s

2025-01-08T17:25:42.084Z,1736357142.084 [DAT](INFO): DAT read: user:133>

2025-01-08T17:25:42.086Z,1736357142.086 [DAT](INFO): DAT read: Tx time:17:25:41.3344

2025-01-08T17:25:42.086Z,1736357142.086 [DAT](INFO): Ping request sent.
2025-01-08T17:25:42.086Z,1736357142.086 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:25:42.087Z,1736357142.087 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:25:42.089Z,1736357142.089 [DAT](INFO): direction in FSK: [0.923040,0.017723,-0.384295]
2025-01-08T17:25:42.089Z,1736357142.089 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:42.091Z,1736357142.091 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:42.104Z,1736357142.104 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:42.104Z,1736357142.104 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:42.313Z,1736357142.313 [DAT](INFO): DAT read: TxSync time:17:25:41.3336

2025-01-08T17:25:42.326Z,1736357142.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:42.380Z,1736357142.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 298.000000 m,
      deltaT: 3.787937 s,
      deltaX: -3.200012 m,
      approachRate: -0.844790 m/s,
      rangeRepo size: 4

2025-01-08T17:25:42.382Z,1736357142.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 298.000000 m,
      bearing: 272.025482 deg,
      lat: 36.904061 deg,
      lon: -122.119258 deg,
      deltaT: 3.787937 s,
      deltaX: -3.200012 m,
      approachRate: -0.844790 m/s,
      posRepo size: 4

2025-01-08T17:25:42.383Z,1736357142.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m.
2025-01-08T17:25:42.390Z,1736357142.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.000000 m,
      nav range: 278.498718 m,
      bearing: 269.116181 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004607 deg/s,
      cmd heading: 266.447373 deg,
      new cmd heading: 266.442619 deg.

2025-01-08T17:25:42.391Z,1736357142.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650301 target range: 298.000000 and range: 298.00 m.
2025-01-08T17:25:42.729Z,1736357142.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:42.737Z,1736357142.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m.
2025-01-08T17:25:42.740Z,1736357142.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.000000 m,
      nav range: 278.279419 m,
      bearing: 269.114697 deg,
      approach rate: -0.605121 m/s,
      LOS rate: -0.004099 deg/s,
      cmd heading: 266.442620 deg,
      new cmd heading: 266.438164 deg.

2025-01-08T17:25:42.741Z,1736357142.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650223 target range: 298.000000 and range: 298.00 m.
2025-01-08T17:25:43.153Z,1736357143.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:43.163Z,1736357143.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m.
2025-01-08T17:25:43.166Z,1736357143.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.000000 m,
      nav range: 278.012024 m,
      bearing: 269.113201 deg,
      approach rate: -0.628875 m/s,
      LOS rate: -0.003522 deg/s,
      cmd heading: 266.438166 deg,
      new cmd heading: 266.433674 deg.

2025-01-08T17:25:43.166Z,1736357143.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650145 target range: 298.000000 and range: 298.00 m.
2025-01-08T17:25:43.542Z,1736357143.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:43.553Z,1736357143.553 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:43.555Z,1736357143.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m.
2025-01-08T17:25:43.558Z,1736357143.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.000000 m,
      nav range: 277.767090 m,
      bearing: 269.111926 deg,
      approach rate: -0.624387 m/s,
      LOS rate: -0.003251 deg/s,
      cmd heading: 266.433686 deg,
      new cmd heading: 266.429860 deg.

2025-01-08T17:25:43.559Z,1736357143.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650078 target range: 298.000000 and range: 298.00 m.
2025-01-08T17:25:43.573Z,1736357143.573 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:25:43.574Z,1736357143.574 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:25:43.574Z,1736357143.574 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:25:43.824Z,1736357143.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738076
2025-01-08T17:25:43.993Z,1736357143.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:44.010Z,1736357144.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m.
2025-01-08T17:25:44.018Z,1736357144.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.000000 m,
      nav range: 277.482880 m,
      bearing: 269.110473 deg,
      approach rate: -0.624473 m/s,
      LOS rate: -0.003197 deg/s,
      cmd heading: 266.429861 deg,
      new cmd heading: 266.425496 deg.

2025-01-08T17:25:44.019Z,1736357144.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650002 target range: 298.000000 and range: 298.00 m.
2025-01-08T17:25:44.078Z,1736357144.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990927
2025-01-08T17:25:44.329Z,1736357144.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242468
2025-01-08T17:25:44.368Z,1736357144.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:44.377Z,1736357144.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m.
2025-01-08T17:25:44.381Z,1736357144.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.000000 m,
      nav range: 277.216980 m,
      bearing: 269.109225 deg,
      approach rate: -0.724785 m/s,
      LOS rate: -0.003406 deg/s,
      cmd heading: 266.425489 deg,
      new cmd heading: 266.421741 deg.

2025-01-08T17:25:44.382Z,1736357144.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649937 target range: 298.000000 and range: 298.00 m.
2025-01-08T17:25:44.580Z,1736357144.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494056
2025-01-08T17:25:44.767Z,1736357144.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:44.775Z,1736357144.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m.
2025-01-08T17:25:44.779Z,1736357144.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.000000 m,
      nav range: 276.939423 m,
      bearing: 269.107919 deg,
      approach rate: -0.697182 m/s,
      LOS rate: -0.003283 deg/s,
      cmd heading: 266.421747 deg,
      new cmd heading: 266.417826 deg.

2025-01-08T17:25:44.780Z,1736357144.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649868 target range: 298.000000 and range: 298.00 m.
2025-01-08T17:25:44.833Z,1736357144.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746793
2025-01-08T17:25:45.084Z,1736357145.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998107
2025-01-08T17:25:45.180Z,1736357145.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:45.209Z,1736357145.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m.
2025-01-08T17:25:45.216Z,1736357145.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.000000 m,
      nav range: 276.603699 m,
      bearing: 269.106469 deg,
      approach rate: -0.774155 m/s,
      LOS rate: -0.003348 deg/s,
      cmd heading: 266.417812 deg,
      new cmd heading: 266.413457 deg.

2025-01-08T17:25:45.217Z,1736357145.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649792 target range: 298.000000 and range: 298.00 m.
2025-01-08T17:25:45.338Z,1736357145.338 [DAT](INFO): DAT read: Rx Time:17:25:44.1331

2025-01-08T17:25:45.338Z,1736357145.338 [DAT](INFO): Rx dataTimestamp_ set to:1736357145.337890
2025-01-08T17:25:45.339Z,1736357145.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252563
2025-01-08T17:25:45.569Z,1736357145.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:45.588Z,1736357145.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502101
2025-01-08T17:25:45.600Z,1736357145.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:45.602Z,1736357145.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m.
2025-01-08T17:25:45.610Z,1736357145.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.000000 m,
      nav range: 276.293732 m,
      bearing: 269.105883 deg,
      approach rate: -0.788544 m/s,
      LOS rate: -0.001493 deg/s,
      cmd heading: 266.413468 deg,
      new cmd heading: 266.411708 deg.

2025-01-08T17:25:45.616Z,1736357145.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649762 target range: 298.000000 and range: 298.00 m.
2025-01-08T17:25:45.841Z,1736357145.841 [DAT](INFO): DAT read: Range 10 to 50 : 295.8 m  (Round-trip  394.5 ms) speed  0.4 m/s

2025-01-08T17:25:45.842Z,1736357145.842 [DAT](INFO): DAT read: user:134>

2025-01-08T17:25:45.842Z,1736357145.842 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:25:45.843Z,1736357145.843 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:25:45.843Z,1736357145.843 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:25:45.844Z,1736357145.844 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:25:46.089Z,1736357146.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-08T17:25:46.089Z,1736357146.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:46.092Z,1736357146.092 [DAT](INFO): DAT read: Tx time:17:25:45.2344

2025-01-08T17:25:46.093Z,1736357146.093 [DAT](INFO): Ping request sent.
2025-01-08T17:25:46.093Z,1736357146.093 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:25:46.094Z,1736357146.094 [DAT](INFO): DAT read: TxSync time:17:25:45.2336

2025-01-08T17:25:46.095Z,1736357146.095 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:46.096Z,1736357146.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003136
2025-01-08T17:25:46.105Z,1736357146.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 295.799988 m,
      deltaT: 3.779915 s,
      deltaX: -2.200012 m,
      approachRate: -0.582027 m/s,
      rangeRepo size: 4

2025-01-08T17:25:46.105Z,1736357146.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m.
2025-01-08T17:25:46.108Z,1736357146.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.000000 m,
      nav range: 275.879333 m,
      bearing: 269.105390 deg,
      approach rate: -0.825003 m/s,
      LOS rate: -0.000982 deg/s,
      cmd heading: 266.411720 deg,
      new cmd heading: 266.410240 deg.

2025-01-08T17:25:46.109Z,1736357146.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649736 target range: 298.000000 and range: 295.80 m.
2025-01-08T17:25:46.345Z,1736357146.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251945
2025-01-08T17:25:46.495Z,1736357146.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-08T17:25:46.495Z,1736357146.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:46.504Z,1736357146.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m.
2025-01-08T17:25:46.507Z,1736357146.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.000000 m,
      nav range: 275.555969 m,
      bearing: 269.105320 deg,
      approach rate: -0.809489 m/s,
      LOS rate: -0.000176 deg/s,
      cmd heading: 266.410245 deg,
      new cmd heading: 266.410033 deg.

2025-01-08T17:25:46.508Z,1736357146.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649732 target range: 298.000000 and range: 295.80 m.
2025-01-08T17:25:46.598Z,1736357146.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504923
2025-01-08T17:25:46.848Z,1736357146.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755252
2025-01-08T17:25:46.913Z,1736357146.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s.
2025-01-08T17:25:46.913Z,1736357146.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:46.922Z,1736357146.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m.
2025-01-08T17:25:46.925Z,1736357146.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.000000 m,
      nav range: 275.222534 m,
      bearing: 269.105247 deg,
      approach rate: -0.796704 m/s,
      LOS rate: -0.000174 deg/s,
      cmd heading: 266.410026 deg,
      new cmd heading: 266.409808 deg.

2025-01-08T17:25:46.926Z,1736357146.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649728 target range: 298.000000 and range: 295.80 m.
2025-01-08T17:25:47.100Z,1736357147.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007317
2025-01-08T17:25:47.322Z,1736357147.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:47.331Z,1736357147.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m.
2025-01-08T17:25:47.352Z,1736357147.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259488
2025-01-08T17:25:47.361Z,1736357147.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.000000 m,
      nav range: 274.865784 m,
      bearing: 269.104917 deg,
      approach rate: -0.872963 m/s,
      LOS rate: -0.000810 deg/s,
      cmd heading: 266.409807 deg,
      new cmd heading: 266.408814 deg.

2025-01-08T17:25:47.368Z,1736357147.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649711 target range: 298.000000 and range: 295.80 m.
2025-01-08T17:25:47.605Z,1736357147.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511636
2025-01-08T17:25:47.716Z,1736357147.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:47.725Z,1736357147.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:47.727Z,1736357147.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m.
2025-01-08T17:25:47.731Z,1736357147.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.000000 m,
      nav range: 274.521790 m,
      bearing: 269.105457 deg,
      approach rate: -0.868742 m/s,
      LOS rate: 0.001367 deg/s,
      cmd heading: 266.408824 deg,
      new cmd heading: 266.410447 deg.

2025-01-08T17:25:47.732Z,1736357147.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649739 target range: 298.000000 and range: 295.80 m.
2025-01-08T17:25:47.857Z,1736357147.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763644
2025-01-08T17:25:48.108Z,1736357148.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015436
2025-01-08T17:25:48.120Z,1736357148.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:48.129Z,1736357148.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m.
2025-01-08T17:25:48.132Z,1736357148.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.000000 m,
      nav range: 274.173279 m,
      bearing: 269.106506 deg,
      approach rate: -0.867188 m/s,
      LOS rate: 0.002612 deg/s,
      cmd heading: 266.410436 deg,
      new cmd heading: 266.413585 deg.

2025-01-08T17:25:48.133Z,1736357148.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649794 target range: 298.000000 and range: 295.80 m.
2025-01-08T17:25:48.361Z,1736357148.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267226
2025-01-08T17:25:48.511Z,1736357148.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:48.520Z,1736357148.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m.
2025-01-08T17:25:48.525Z,1736357148.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.000000 m,
      nav range: 273.835419 m,
      bearing: 269.107704 deg,
      approach rate: -0.862176 m/s,
      LOS rate: 0.003062 deg/s,
      cmd heading: 266.413578 deg,
      new cmd heading: 266.417177 deg.

2025-01-08T17:25:48.527Z,1736357148.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649857 target range: 298.000000 and range: 295.80 m.
2025-01-08T17:25:48.612Z,1736357148.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519504
2025-01-08T17:25:48.864Z,1736357148.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771414
2025-01-08T17:25:48.903Z,1736357148.903 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:48.913Z,1736357148.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m.
2025-01-08T17:25:48.916Z,1736357148.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.000000 m,
      nav range: 273.496155 m,
      bearing: 269.109035 deg,
      approach rate: -0.863715 m/s,
      LOS rate: 0.003394 deg/s,
      cmd heading: 266.417184 deg,
      new cmd heading: 266.421183 deg.

2025-01-08T17:25:48.917Z,1736357148.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649927 target range: 298.000000 and range: 295.80 m.
2025-01-08T17:25:49.116Z,1736357149.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023301
2025-01-08T17:25:49.334Z,1736357149.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:49.346Z,1736357149.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m.
2025-01-08T17:25:49.349Z,1736357149.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.000000 m,
      nav range: 273.143341 m,
      bearing: 269.109581 deg,
      approach rate: -0.815036 m/s,
      LOS rate: 0.001263 deg/s,
      cmd heading: 266.421173 deg,
      new cmd heading: 266.422813 deg.

2025-01-08T17:25:49.350Z,1736357149.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649955 target range: 298.000000 and range: 295.80 m.
2025-01-08T17:25:49.394Z,1736357149.394 [DAT](INFO): DAT read: Rx Time:17:25:48.0316

2025-01-08T17:25:49.395Z,1736357149.395 [DAT](INFO): Rx dataTimestamp_ set to:1736357149.394354
2025-01-08T17:25:49.396Z,1736357149.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.302829
2025-01-08T17:25:49.644Z,1736357149.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.551398
2025-01-08T17:25:49.781Z,1736357149.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:49.799Z,1736357149.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:49.801Z,1736357149.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 298.00 m.
2025-01-08T17:25:49.804Z,1736357149.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 298.000000 m,
      nav range: 272.780090 m,
      bearing: 269.110218 deg,
      approach rate: -0.798490 m/s,
      LOS rate: 0.001400 deg/s,
      cmd heading: 266.422812 deg,
      new cmd heading: 266.424723 deg.

2025-01-08T17:25:49.805Z,1736357149.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649989 target range: 298.000000 and range: 295.80 m.
2025-01-08T17:25:49.902Z,1736357149.902 [DAT](INFO): DAT read: 17:25:48.0316 LVL= 21056, 28897, 24130, 32755, AGC= 64, IDX= 420, 0.46, 2.598, 1.086, 2.594, 1.825, PHS= 0.860,-0.692, 0.765, RAW= 146.9, -12.4, CAL= 153.9, -20.7, ROT= 356.1,  20.7

2025-01-08T17:25:49.903Z,1736357149.903 [DAT](INFO): got valid direction response:
 17:25:48.0316 LVL= 21056, 28897, 24130, 32755, AGC= 64, IDX= 420, 0.46, 2.598, 1.086, 2.594, 1.825, PHS= 0.860,-0.692, 0.765, RAW= 146.9, -12.4, CAL= 153.9, -20.7, ROT= 356.1,  20.7

2025-01-08T17:25:49.904Z,1736357149.904 [DAT](INFO): DAT read: Bearing 356.1,  20.7 (Local)

2025-01-08T17:25:49.905Z,1736357149.905 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.1,  20.7 (Local)

2025-01-08T17:25:49.906Z,1736357149.906 [DAT](INFO): DAT read: Range 10 to 50 : 294.7 m  (Round-trip  393.0 ms) speed  0.7 m/s

2025-01-08T17:25:49.907Z,1736357149.907 [DAT](INFO): DAT read: user:135>

2025-01-08T17:25:49.908Z,1736357149.908 [DAT](INFO): DAT read: Tx time:17:25:49.1344

2025-01-08T17:25:49.908Z,1736357149.908 [DAT](INFO): Ping request sent.
2025-01-08T17:25:49.908Z,1736357149.908 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:25:49.908Z,1736357149.908 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:25:49.909Z,1736357149.909 [DAT](INFO): direction in FSK: [0.933278,-0.063625,-0.353475]
2025-01-08T17:25:49.910Z,1736357149.910 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:49.910Z,1736357149.910 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:49.914Z,1736357149.914 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:49.914Z,1736357149.914 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:50.149Z,1736357150.149 [DAT](INFO): DAT read: TxSync time:17:25:49.1336

2025-01-08T17:25:50.188Z,1736357150.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:50.218Z,1736357150.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 294.700012 m,
      deltaT: 4.056056 s,
      deltaX: -1.099976 m,
      approachRate: -0.271193 m/s,
      rangeRepo size: 4

2025-01-08T17:25:50.220Z,1736357150.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 294.700012 m,
      bearing: 264.044347 deg,
      lat: 36.904052 deg,
      lon: -122.119272 deg,
      deltaT: 7.835971 s,
      deltaX: -3.299988 m,
      approachRate: -0.421133 m/s,
      posRepo size: 4

2025-01-08T17:25:50.221Z,1736357150.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-01-08T17:25:50.232Z,1736357150.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.700012 m,
      nav range: 273.709351 m,
      bearing: 268.907270 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001400 deg/s,
      cmd heading: 266.424725 deg,
      new cmd heading: 266.426462 deg.

2025-01-08T17:25:50.233Z,1736357150.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650019 target range: 294.700012 and range: 294.70 m.
2025-01-08T17:25:50.525Z,1736357150.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:50.534Z,1736357150.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-01-08T17:25:50.553Z,1736357150.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.700012 m,
      nav range: 273.457428 m,
      bearing: 268.908668 deg,
      approach rate: -0.788229 m/s,
      LOS rate: 0.004378 deg/s,
      cmd heading: 266.426473 deg,
      new cmd heading: 266.430671 deg.

2025-01-08T17:25:50.554Z,1736357150.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650093 target range: 294.700012 and range: 294.70 m.
2025-01-08T17:25:50.952Z,1736357150.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:50.976Z,1736357150.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-01-08T17:25:51.017Z,1736357151.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.700012 m,
      nav range: 273.137390 m,
      bearing: 268.910448 deg,
      approach rate: -0.730210 m/s,
      LOS rate: 0.004066 deg/s,
      cmd heading: 266.430680 deg,
      new cmd heading: 266.436026 deg.

2025-01-08T17:25:51.018Z,1736357151.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650186 target range: 294.700012 and range: 294.70 m.
2025-01-08T17:25:51.357Z,1736357151.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:51.367Z,1736357151.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-01-08T17:25:51.370Z,1736357151.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.700012 m,
      nav range: 272.872467 m,
      bearing: 268.911584 deg,
      approach rate: -0.671960 m/s,
      LOS rate: 0.002886 deg/s,
      cmd heading: 266.436035 deg,
      new cmd heading: 266.439449 deg.

2025-01-08T17:25:51.371Z,1736357151.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650246 target range: 294.700012 and range: 294.70 m.
2025-01-08T17:25:51.746Z,1736357151.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:51.757Z,1736357151.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-01-08T17:25:51.761Z,1736357151.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.700012 m,
      nav range: 272.618378 m,
      bearing: 268.912458 deg,
      approach rate: -0.650346 m/s,
      LOS rate: 0.002240 deg/s,
      cmd heading: 266.439450 deg,
      new cmd heading: 266.442075 deg.

2025-01-08T17:25:51.762Z,1736357151.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650291 target range: 294.700012 and range: 294.70 m.
2025-01-08T17:25:52.175Z,1736357152.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:52.182Z,1736357152.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:52.185Z,1736357152.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-01-08T17:25:52.188Z,1736357152.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.700012 m,
      nav range: 272.364380 m,
      bearing: 268.913886 deg,
      approach rate: -0.594097 m/s,
      LOS rate: 0.003341 deg/s,
      cmd heading: 266.442073 deg,
      new cmd heading: 266.446359 deg.

2025-01-08T17:25:52.189Z,1736357152.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650366 target range: 294.700012 and range: 294.70 m.
2025-01-08T17:25:52.416Z,1736357152.416 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:25:52.416Z,1736357152.416 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:25:52.416Z,1736357152.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:25:52.552Z,1736357152.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:52.561Z,1736357152.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-01-08T17:25:52.565Z,1736357152.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.700012 m,
      nav range: 272.141022 m,
      bearing: 268.914822 deg,
      approach rate: -0.594781 m/s,
      LOS rate: 0.002497 deg/s,
      cmd heading: 266.446363 deg,
      new cmd heading: 266.449175 deg.

2025-01-08T17:25:52.566Z,1736357152.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650415 target range: 294.700012 and range: 294.70 m.
2025-01-08T17:25:52.668Z,1736357152.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760305
2025-01-08T17:25:52.921Z,1736357152.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012574
2025-01-08T17:25:52.989Z,1736357152.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:53.001Z,1736357153.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-01-08T17:25:53.016Z,1736357153.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.700012 m,
      nav range: 271.882385 m,
      bearing: 268.915684 deg,
      approach rate: -0.587568 m/s,
      LOS rate: 0.001960 deg/s,
      cmd heading: 266.449177 deg,
      new cmd heading: 266.451765 deg.

2025-01-08T17:25:53.017Z,1736357153.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650461 target range: 294.700012 and range: 294.70 m.
2025-01-08T17:25:53.172Z,1736357153.172 [DAT](INFO): DAT read: Rx Time:17:25:51.9291

2025-01-08T17:25:53.173Z,1736357153.173 [DAT](INFO): Rx dataTimestamp_ set to:1736357153.172502
2025-01-08T17:25:53.174Z,1736357153.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265689
2025-01-08T17:25:53.416Z,1736357153.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:53.424Z,1736357153.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516348
2025-01-08T17:25:53.451Z,1736357153.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 294.70 m.
2025-01-08T17:25:53.464Z,1736357153.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 294.700012 m,
      nav range: 271.656006 m,
      bearing: 268.915552 deg,
      approach rate: -0.503561 m/s,
      LOS rate: -0.000294 deg/s,
      cmd heading: 266.451772 deg,
      new cmd heading: 266.451376 deg.

2025-01-08T17:25:53.466Z,1736357153.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650454 target range: 294.700012 and range: 294.70 m.
2025-01-08T17:25:53.690Z,1736357153.690 [DAT](INFO): DAT read: 17:25:51.9291 LVL= 24528, 27121, 18402, 30051, AGC= 64, IDX= 405,-0.05,-1.047,-2.681,-1.056,-1.872, PHS= 0.914,-0.761, 0.814, RAW= 146.9, -11.9, CAL= 154.1, -20.2, ROT= 355.9,  20.2

2025-01-08T17:25:53.696Z,1736357153.696 [DAT](INFO): got valid direction response:
 17:25:51.9291 LVL= 24528, 27121, 18402, 30051, AGC= 64, IDX= 405,-0.05,-1.047,-2.681,-1.056,-1.872, PHS= 0.914,-0.761, 0.814, RAW= 146.9, -11.9, CAL= 154.1, -20.2, ROT= 355.9,  20.2

2025-01-08T17:25:53.698Z,1736357153.698 [DAT](INFO): DAT read: Bearing 355.9,  20.2 (Local)

2025-01-08T17:25:53.698Z,1736357153.698 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.9,  20.2 (Local)

2025-01-08T17:25:53.707Z,1736357153.707 [DAT](INFO): DAT read: Range 10 to 50 : 292.8 m  (Round-trip  390.5 ms) speed  0.6 m/s

2025-01-08T17:25:53.709Z,1736357153.709 [DAT](INFO): DAT read: user:136>

2025-01-08T17:25:53.710Z,1736357153.710 [DAT](INFO): DAT read: Tx time:17:25:53.0345

2025-01-08T17:25:53.727Z,1736357153.727 [DAT](INFO): Ping request sent.
2025-01-08T17:25:53.732Z,1736357153.732 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:25:53.732Z,1736357153.732 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:25:53.733Z,1736357153.733 [DAT](INFO): direction in FSK: [0.936091,-0.067100,-0.345298]
2025-01-08T17:25:53.734Z,1736357153.734 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:53.734Z,1736357153.734 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:53.750Z,1736357153.750 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:53.750Z,1736357153.750 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:53.925Z,1736357153.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:53.929Z,1736357153.929 [DAT](INFO): DAT read: TxSync time:17:25:53.0337

2025-01-08T17:25:53.941Z,1736357153.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 292.799988 m,
      deltaT: 3.782246 s,
      deltaX: -1.900024 m,
      approachRate: -0.502353 m/s,
      rangeRepo size: 4

2025-01-08T17:25:53.945Z,1736357153.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 292.799988 m,
      bearing: 265.275369 deg,
      lat: 36.903945 deg,
      lon: -122.119304 deg,
      deltaT: 3.782246 s,
      deltaX: -1.900024 m,
      approachRate: -0.502353 m/s,
      posRepo size: 4

2025-01-08T17:25:53.945Z,1736357153.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.80 m.
2025-01-08T17:25:53.949Z,1736357153.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.799988 m,
      nav range: 274.722473 m,
      bearing: 266.461039 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000294 deg/s,
      cmd heading: 266.451362 deg,
      new cmd heading: 266.450930 deg.

2025-01-08T17:25:53.950Z,1736357153.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650446 target range: 292.799988 and range: 292.80 m.
2025-01-08T17:25:54.382Z,1736357154.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:54.389Z,1736357154.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:54.391Z,1736357154.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.80 m.
2025-01-08T17:25:54.395Z,1736357154.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.799988 m,
      nav range: 274.492859 m,
      bearing: 266.458864 deg,
      approach rate: -0.510025 m/s,
      LOS rate: -0.004834 deg/s,
      cmd heading: 266.450925 deg,
      new cmd heading: 266.444396 deg.

2025-01-08T17:25:54.396Z,1736357154.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650332 target range: 292.799988 and range: 292.80 m.
2025-01-08T17:25:54.433Z,1736357154.433 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:25:54.433Z,1736357154.433 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:25:54.433Z,1736357154.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:25:54.686Z,1736357154.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.959766
2025-01-08T17:25:54.749Z,1736357154.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:54.777Z,1736357154.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.80 m.
2025-01-08T17:25:54.784Z,1736357154.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.799988 m,
      nav range: 274.308472 m,
      bearing: 266.457024 deg,
      approach rate: -0.477354 m/s,
      LOS rate: -0.004768 deg/s,
      cmd heading: 266.444395 deg,
      new cmd heading: 266.438870 deg.

2025-01-08T17:25:54.785Z,1736357154.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650236 target range: 292.799988 and range: 292.80 m.
2025-01-08T17:25:54.936Z,1736357154.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.209844
2025-01-08T17:25:55.188Z,1736357155.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.461889
2025-01-08T17:25:55.201Z,1736357155.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:55.230Z,1736357155.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.80 m.
2025-01-08T17:25:55.237Z,1736357155.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.799988 m,
      nav range: 274.084198 m,
      bearing: 266.454311 deg,
      approach rate: -0.494912 m/s,
      LOS rate: -0.005991 deg/s,
      cmd heading: 266.438877 deg,
      new cmd heading: 266.430732 deg.

2025-01-08T17:25:55.238Z,1736357155.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650094 target range: 292.799988 and range: 292.80 m.
2025-01-08T17:25:55.440Z,1736357155.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.713841
2025-01-08T17:25:55.557Z,1736357155.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:55.566Z,1736357155.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.80 m.
2025-01-08T17:25:55.569Z,1736357155.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.799988 m,
      nav range: 273.907776 m,
      bearing: 266.452025 deg,
      approach rate: -0.525149 m/s,
      LOS rate: -0.006808 deg/s,
      cmd heading: 266.430735 deg,
      new cmd heading: 266.423873 deg.

2025-01-08T17:25:55.570Z,1736357155.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649974 target range: 292.799988 and range: 292.80 m.
2025-01-08T17:25:55.693Z,1736357155.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966480
2025-01-08T17:25:55.945Z,1736357155.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218572
2025-01-08T17:25:55.993Z,1736357155.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:56.022Z,1736357156.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.80 m.
2025-01-08T17:25:56.029Z,1736357156.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.799988 m,
      nav range: 273.694672 m,
      bearing: 266.449090 deg,
      approach rate: -0.467519 m/s,
      LOS rate: -0.006445 deg/s,
      cmd heading: 266.423878 deg,
      new cmd heading: 266.415064 deg.

2025-01-08T17:25:56.030Z,1736357156.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649820 target range: 292.799988 and range: 292.80 m.
2025-01-08T17:25:56.196Z,1736357156.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469996
2025-01-08T17:25:56.393Z,1736357156.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:56.401Z,1736357156.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:56.403Z,1736357156.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.80 m.
2025-01-08T17:25:56.406Z,1736357156.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.799988 m,
      nav range: 273.479553 m,
      bearing: 266.446113 deg,
      approach rate: -0.564956 m/s,
      LOS rate: -0.007825 deg/s,
      cmd heading: 266.415053 deg,
      new cmd heading: 266.406114 deg.

2025-01-08T17:25:56.407Z,1736357156.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649664 target range: 292.799988 and range: 292.80 m.
2025-01-08T17:25:56.449Z,1736357156.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722589
2025-01-08T17:25:56.701Z,1736357156.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974560
2025-01-08T17:25:56.777Z,1736357156.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:56.786Z,1736357156.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.80 m.
2025-01-08T17:25:56.792Z,1736357156.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.799988 m,
      nav range: 273.275940 m,
      bearing: 266.443176 deg,
      approach rate: -0.531702 m/s,
      LOS rate: -0.007675 deg/s,
      cmd heading: 266.406119 deg,
      new cmd heading: 266.397302 deg.

2025-01-08T17:25:56.793Z,1736357156.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649510 target range: 292.799988 and range: 292.80 m.
2025-01-08T17:25:56.952Z,1736357156.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225789
2025-01-08T17:25:57.209Z,1736357157.209 [DAT](INFO): DAT read: Rx Time:17:25:55.8238

2025-01-08T17:25:57.210Z,1736357157.210 [DAT](INFO): Rx dataTimestamp_ set to:1736357157.209359
2025-01-08T17:25:57.210Z,1736357157.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483968
2025-01-08T17:25:57.240Z,1736357157.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:57.249Z,1736357157.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.80 m.
2025-01-08T17:25:57.252Z,1736357157.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.799988 m,
      nav range: 273.002533 m,
      bearing: 266.439064 deg,
      approach rate: -0.590451 m/s,
      LOS rate: -0.008890 deg/s,
      cmd heading: 266.397294 deg,
      new cmd heading: 266.384945 deg.

2025-01-08T17:25:57.253Z,1736357157.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649294 target range: 292.799988 and range: 292.80 m.
2025-01-08T17:25:57.461Z,1736357157.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.733900
2025-01-08T17:25:57.598Z,1736357157.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:57.606Z,1736357157.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 292.80 m.
2025-01-08T17:25:57.609Z,1736357157.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 292.799988 m,
      nav range: 272.790802 m,
      bearing: 266.435816 deg,
      approach rate: -0.592624 m/s,
      LOS rate: -0.009098 deg/s,
      cmd heading: 266.384945 deg,
      new cmd heading: 266.375194 deg.

2025-01-08T17:25:57.611Z,1736357157.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649124 target range: 292.799988 and range: 292.80 m.
2025-01-08T17:25:57.721Z,1736357157.721 [DAT](INFO): DAT read: 17:25:55.8238 LVL= 18256, 24433, 16674, 22419, AGC= 66, IDX= 387, 0.14, 2.999, 1.447, 2.977, 1.973, PHS= 1.114,-0.479, 1.001, RAW= 146.4, -20.6, CAL= 151.7, -27.8, ROT= 358.3,  27.8

2025-01-08T17:25:57.722Z,1736357157.722 [DAT](INFO): got valid direction response:
 17:25:55.8238 LVL= 18256, 24433, 16674, 22419, AGC= 66, IDX= 387, 0.14, 2.999, 1.447, 2.977, 1.973, PHS= 1.114,-0.479, 1.001, RAW= 146.4, -20.6, CAL= 151.7, -27.8, ROT= 358.3,  27.8

2025-01-08T17:25:57.723Z,1736357157.723 [DAT](INFO): DAT read: Bearing 358.3,  27.8 (Local)

2025-01-08T17:25:57.724Z,1736357157.724 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.3,  27.8 (Local)

2025-01-08T17:25:57.725Z,1736357157.725 [DAT](INFO): DAT read: Range 10 to 50 : 288.8 m  (Round-trip  385.1 ms) speed  0.3 m/s

2025-01-08T17:25:57.726Z,1736357157.726 [DAT](INFO): DAT read: user:137>

2025-01-08T17:25:57.727Z,1736357157.727 [DAT](INFO): DAT read: Tx time:17:25:56.9345

2025-01-08T17:25:57.729Z,1736357157.729 [DAT](INFO): Ping request sent.
2025-01-08T17:25:57.729Z,1736357157.729 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:25:57.730Z,1736357157.730 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:25:57.734Z,1736357157.734 [DAT](INFO): direction in FSK: [0.884192,-0.026243,-0.466387]
2025-01-08T17:25:57.735Z,1736357157.735 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:57.736Z,1736357157.736 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:57.744Z,1736357157.744 [DAT](INFO): publishing transmit ping time
2025-01-08T17:25:57.745Z,1736357157.745 [DAT](INFO): publishing direction and range info
2025-01-08T17:25:57.965Z,1736357157.965 [DAT](INFO): DAT read: TxSync time:17:25:56.9337

2025-01-08T17:25:58.024Z,1736357158.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:58.052Z,1736357158.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 288.799988 m,
      deltaT: 4.034138 s,
      deltaX: -4.000000 m,
      approachRate: -0.991538 m/s,
      rangeRepo size: 4

2025-01-08T17:25:58.054Z,1736357158.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 288.799988 m,
      bearing: 269.659381 deg,
      lat: 36.903945 deg,
      lon: -122.119272 deg,
      deltaT: 4.034138 s,
      deltaX: -4.000000 m,
      approachRate: -0.991538 m/s,
      posRepo size: 4

2025-01-08T17:25:58.055Z,1736357158.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.80 m.
2025-01-08T17:25:58.062Z,1736357158.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.799988 m,
      nav range: 269.683258 m,
      bearing: 266.394073 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009098 deg/s,
      cmd heading: 266.375192 deg,
      new cmd heading: 266.363161 deg.

2025-01-08T17:25:58.070Z,1736357158.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648914 target range: 288.799988 and range: 288.80 m.
2025-01-08T17:25:58.407Z,1736357158.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:58.418Z,1736357158.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:25:58.440Z,1736357158.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.80 m.
2025-01-08T17:25:58.447Z,1736357158.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.799988 m,
      nav range: 269.431213 m,
      bearing: 266.390159 deg,
      approach rate: -0.640523 m/s,
      LOS rate: -0.009957 deg/s,
      cmd heading: 266.363171 deg,
      new cmd heading: 266.351416 deg.

2025-01-08T17:25:58.448Z,1736357158.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648709 target range: 288.799988 and range: 288.80 m.
2025-01-08T17:25:58.468Z,1736357158.468 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:25:58.468Z,1736357158.468 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:25:58.469Z,1736357158.469 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:25:58.721Z,1736357158.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992342
2025-01-08T17:25:58.816Z,1736357158.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:58.830Z,1736357158.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.80 m.
2025-01-08T17:25:58.833Z,1736357158.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.799988 m,
      nav range: 269.160950 m,
      bearing: 266.385953 deg,
      approach rate: -0.694455 m/s,
      LOS rate: -0.010818 deg/s,
      cmd heading: 266.351423 deg,
      new cmd heading: 266.338793 deg.

2025-01-08T17:25:58.834Z,1736357158.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648489 target range: 288.799988 and range: 288.80 m.
2025-01-08T17:25:58.972Z,1736357158.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243515
2025-01-08T17:25:59.228Z,1736357159.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498872
2025-01-08T17:25:59.279Z,1736357159.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:59.303Z,1736357159.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.80 m.
2025-01-08T17:25:59.306Z,1736357159.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.799988 m,
      nav range: 268.818695 m,
      bearing: 266.380912 deg,
      approach rate: -0.747946 m/s,
      LOS rate: -0.011030 deg/s,
      cmd heading: 266.338801 deg,
      new cmd heading: 266.323658 deg.

2025-01-08T17:25:59.312Z,1736357159.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648225 target range: 288.799988 and range: 288.80 m.
2025-01-08T17:25:59.476Z,1736357159.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747651
2025-01-08T17:25:59.616Z,1736357159.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:25:59.625Z,1736357159.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.80 m.
2025-01-08T17:25:59.629Z,1736357159.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.799988 m,
      nav range: 268.568939 m,
      bearing: 266.377226 deg,
      approach rate: -0.739680 m/s,
      LOS rate: -0.010928 deg/s,
      cmd heading: 266.323665 deg,
      new cmd heading: 266.312596 deg.

2025-01-08T17:25:59.630Z,1736357159.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648032 target range: 288.799988 and range: 288.80 m.
2025-01-08T17:25:59.730Z,1736357159.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000954
2025-01-08T17:25:59.980Z,1736357159.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251668
2025-01-08T17:26:00.003Z,1736357160.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:00.012Z,1736357160.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.80 m.
2025-01-08T17:26:00.015Z,1736357160.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.799988 m,
      nav range: 268.282288 m,
      bearing: 266.373473 deg,
      approach rate: -0.739721 m/s,
      LOS rate: -0.009694 deg/s,
      cmd heading: 266.312600 deg,
      new cmd heading: 266.301331 deg.

2025-01-08T17:26:00.016Z,1736357160.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647835 target range: 288.799988 and range: 288.80 m.
2025-01-08T17:26:00.233Z,1736357160.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504196
2025-01-08T17:26:00.238Z,1736357160.238 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:26:00.432Z,1736357160.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:00.439Z,1736357160.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:00.441Z,1736357160.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.80 m.
2025-01-08T17:26:00.445Z,1736357160.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.799988 m,
      nav range: 267.931946 m,
      bearing: 266.368690 deg,
      approach rate: -0.817307 m/s,
      LOS rate: -0.011172 deg/s,
      cmd heading: 266.301344 deg,
      new cmd heading: 266.286977 deg.

2025-01-08T17:26:00.446Z,1736357160.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647584 target range: 288.799988 and range: 288.80 m.
2025-01-08T17:26:00.484Z,1736357160.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755683
2025-01-08T17:26:00.736Z,1736357160.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007582
2025-01-08T17:26:00.832Z,1736357160.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:00.842Z,1736357160.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.80 m.
2025-01-08T17:26:00.845Z,1736357160.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.799988 m,
      nav range: 267.615875 m,
      bearing: 266.364615 deg,
      approach rate: -0.787731 m/s,
      LOS rate: -0.010168 deg/s,
      cmd heading: 266.286973 deg,
      new cmd heading: 266.274734 deg.

2025-01-08T17:26:00.846Z,1736357160.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647371 target range: 288.799988 and range: 288.80 m.
2025-01-08T17:26:00.989Z,1736357160.989 [DAT](INFO): DAT read: Rx Time:17:25:59.7214

2025-01-08T17:26:00.989Z,1736357160.989 [DAT](INFO): Rx dataTimestamp_ set to:1736357160.988869
2025-01-08T17:26:00.990Z,1736357160.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261057
2025-01-08T17:26:01.244Z,1736357161.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514351
2025-01-08T17:26:01.247Z,1736357161.247 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:26:01.294Z,1736357161.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:01.318Z,1736357161.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.80 m.
2025-01-08T17:26:01.324Z,1736357161.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.799988 m,
      nav range: 267.200409 m,
      bearing: 266.359960 deg,
      approach rate: -0.874331 m/s,
      LOS rate: -0.009812 deg/s,
      cmd heading: 266.274734 deg,
      new cmd heading: 266.260747 deg.

2025-01-08T17:26:01.325Z,1736357161.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647127 target range: 288.799988 and range: 288.80 m.
2025-01-08T17:26:01.494Z,1736357161.494 [DAT](INFO): DAT read: Range 10 to 50 : 287.0 m  (Round-trip  382.7 ms) speed  0.3 m/s

2025-01-08T17:26:01.495Z,1736357161.495 [DAT](INFO): DAT read: user:138>

2025-01-08T17:26:01.496Z,1736357161.496 [DAT](INFO): DAT read: Tx time:17:26:00.8346

2025-01-08T17:26:01.496Z,1736357161.496 [DAT](INFO): Ping request sent.
2025-01-08T17:26:01.496Z,1736357161.496 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:26:01.496Z,1736357161.496 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:26:01.496Z,1736357161.496 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:01.497Z,1736357161.497 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:01.643Z,1736357161.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:01.665Z,1736357161.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 287.000000 m,
      deltaT: 3.779495 s,
      deltaX: -1.799988 m,
      approachRate: -0.476251 m/s,
      rangeRepo size: 4

2025-01-08T17:26:01.666Z,1736357161.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.80 m.
2025-01-08T17:26:01.673Z,1736357161.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.799988 m,
      nav range: 266.894196 m,
      bearing: 266.356768 deg,
      approach rate: -0.882597 m/s,
      LOS rate: -0.009212 deg/s,
      cmd heading: 266.260745 deg,
      new cmd heading: 266.251157 deg.

2025-01-08T17:26:01.674Z,1736357161.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646959 target range: 288.799988 and range: 287.00 m.
2025-01-08T17:26:01.745Z,1736357161.745 [DAT](INFO): DAT read: TxSync time:17:26:00.8338

2025-01-08T17:26:02.108Z,1736357162.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:02.135Z,1736357162.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.80 m.
2025-01-08T17:26:02.138Z,1736357162.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.799988 m,
      nav range: 266.486694 m,
      bearing: 266.352959 deg,
      approach rate: -0.865773 m/s,
      LOS rate: -0.008104 deg/s,
      cmd heading: 266.251156 deg,
      new cmd heading: 266.239713 deg.

2025-01-08T17:26:02.143Z,1736357162.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646760 target range: 288.799988 and range: 287.00 m.
2025-01-08T17:26:02.558Z,1736357162.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:02.566Z,1736357162.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:02.568Z,1736357162.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.80 m.
2025-01-08T17:26:02.570Z,1736357162.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.799988 m,
      nav range: 266.106232 m,
      bearing: 266.350811 deg,
      approach rate: -0.879136 m/s,
      LOS rate: -0.004972 deg/s,
      cmd heading: 266.239708 deg,
      new cmd heading: 266.233254 deg.

2025-01-08T17:26:02.572Z,1736357162.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646647 target range: 288.799988 and range: 287.00 m.
2025-01-08T17:26:02.758Z,1736357162.758 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:26:02.758Z,1736357162.758 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:26:02.759Z,1736357162.759 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:26:02.989Z,1736357162.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:03.008Z,1736357163.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512301
2025-01-08T17:26:03.026Z,1736357163.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.80 m.
2025-01-08T17:26:03.030Z,1736357163.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.799988 m,
      nav range: 265.741516 m,
      bearing: 266.349146 deg,
      approach rate: -0.795707 m/s,
      LOS rate: -0.003638 deg/s,
      cmd heading: 266.233261 deg,
      new cmd heading: 266.228259 deg.

2025-01-08T17:26:03.031Z,1736357163.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646560 target range: 288.799988 and range: 287.00 m.
2025-01-08T17:26:03.264Z,1736357163.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766997
2025-01-08T17:26:03.428Z,1736357163.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:03.436Z,1736357163.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.80 m.
2025-01-08T17:26:03.439Z,1736357163.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.799988 m,
      nav range: 265.375702 m,
      bearing: 266.348178 deg,
      approach rate: -0.891912 m/s,
      LOS rate: -0.002363 deg/s,
      cmd heading: 266.228261 deg,
      new cmd heading: 266.225353 deg.

2025-01-08T17:26:03.440Z,1736357163.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646509 target range: 288.799988 and range: 287.00 m.
2025-01-08T17:26:03.512Z,1736357163.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016380
2025-01-08T17:26:03.764Z,1736357163.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268265
2025-01-08T17:26:03.796Z,1736357163.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:03.828Z,1736357163.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.80 m.
2025-01-08T17:26:03.843Z,1736357163.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.799988 m,
      nav range: 265.066559 m,
      bearing: 266.347363 deg,
      approach rate: -0.824821 m/s,
      LOS rate: -0.002177 deg/s,
      cmd heading: 266.225365 deg,
      new cmd heading: 266.222918 deg.

2025-01-08T17:26:03.850Z,1736357163.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646466 target range: 288.799988 and range: 287.00 m.
2025-01-08T17:26:04.016Z,1736357164.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520302
2025-01-08T17:26:04.215Z,1736357164.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:04.272Z,1736357164.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775004
2025-01-08T17:26:04.288Z,1736357164.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.80 m.
2025-01-08T17:26:04.290Z,1736357164.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.799988 m,
      nav range: 264.716583 m,
      bearing: 266.346475 deg,
      approach rate: -0.742295 m/s,
      LOS rate: -0.001884 deg/s,
      cmd heading: 266.222906 deg,
      new cmd heading: 266.220241 deg.

2025-01-08T17:26:04.296Z,1736357164.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646420 target range: 288.799988 and range: 287.00 m.
2025-01-08T17:26:04.522Z,1736357164.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025805
2025-01-08T17:26:04.626Z,1736357164.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:04.634Z,1736357164.634 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:04.636Z,1736357164.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.80 m.
2025-01-08T17:26:04.639Z,1736357164.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.799988 m,
      nav range: 264.396698 m,
      bearing: 266.346155 deg,
      approach rate: -0.904957 m/s,
      LOS rate: -0.000906 deg/s,
      cmd heading: 266.220229 deg,
      new cmd heading: 266.219267 deg.

2025-01-08T17:26:04.640Z,1736357164.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646403 target range: 288.799988 and range: 287.00 m.
2025-01-08T17:26:04.772Z,1736357164.772 [DAT](INFO): DAT read: Rx Time:17:26:03.6200

2025-01-08T17:26:04.773Z,1736357164.773 [DAT](INFO): Rx dataTimestamp_ set to:1736357164.772635
2025-01-08T17:26:04.773Z,1736357164.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277409
2025-01-08T17:26:05.007Z,1736357165.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:05.024Z,1736357165.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528065
2025-01-08T17:26:05.036Z,1736357165.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.80 m.
2025-01-08T17:26:05.039Z,1736357165.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.799988 m,
      nav range: 264.100281 m,
      bearing: 266.345833 deg,
      approach rate: -0.740841 m/s,
      LOS rate: -0.000806 deg/s,
      cmd heading: 266.219272 deg,
      new cmd heading: 266.218305 deg.

2025-01-08T17:26:05.045Z,1736357165.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646386 target range: 288.799988 and range: 287.00 m.
2025-01-08T17:26:05.280Z,1736357165.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783279
2025-01-08T17:26:05.445Z,1736357165.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:05.474Z,1736357165.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.80 m.
2025-01-08T17:26:05.481Z,1736357165.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 288.799988 m,
      nav range: 263.790619 m,
      bearing: 266.346309 deg,
      approach rate: -0.707684 m/s,
      LOS rate: 0.001088 deg/s,
      cmd heading: 266.218316 deg,
      new cmd heading: 266.219744 deg.

2025-01-08T17:26:05.482Z,1736357165.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646411 target range: 288.799988 and range: 287.00 m.
2025-01-08T17:26:05.537Z,1736357165.537 [DAT](INFO): DAT read: 17:26:03.6200 LVL= 25584, 32753, 31586, 32755, AGC= 61, IDX= 428,-0.10,-2.266, 2.749,-2.321,-3.040, PHS= 0.862,-0.448, 0.715, RAW= 144.1, -17.8, CAL= 150.0, -25.6, ROT= 360.0,  25.6

2025-01-08T17:26:05.539Z,1736357165.539 [DAT](INFO): got valid direction response:
 17:26:03.6200 LVL= 25584, 32753, 31586, 32755, AGC= 61, IDX= 428,-0.10,-2.266, 2.749,-2.321,-3.040, PHS= 0.862,-0.448, 0.715, RAW= 144.1, -17.8, CAL= 150.0, -25.6, ROT= 360.0,  25.6

2025-01-08T17:26:05.541Z,1736357165.541 [DAT](INFO): DAT read: Bearing 360.0,  25.6 (Local)

2025-01-08T17:26:05.541Z,1736357165.541 [DAT](INFO): Local bearing/azimuth received:
 Bearing 360.0,  25.6 (Local)

2025-01-08T17:26:05.550Z,1736357165.550 [DAT](INFO): DAT read: Range 10 to 50 : 285.9 m  (Round-trip  381.2 ms) speed  0.5 m/s

2025-01-08T17:26:05.552Z,1736357165.552 [DAT](INFO): DAT read: user:139>

2025-01-08T17:26:05.553Z,1736357165.553 [DAT](INFO): DAT read: Tx time:17:26:04.7346

2025-01-08T17:26:05.553Z,1736357165.553 [DAT](INFO): Ping request sent.
2025-01-08T17:26:05.553Z,1736357165.553 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:26:05.554Z,1736357165.554 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:26:05.555Z,1736357165.555 [DAT](INFO): direction in FSK: [0.901833,0.000000,-0.432086]
2025-01-08T17:26:05.555Z,1736357165.555 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:05.555Z,1736357165.555 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:05.558Z,1736357165.558 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:05.558Z,1736357165.558 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:05.780Z,1736357165.780 [DAT](INFO): DAT read: TxSync time:17:26:04.7338

2025-01-08T17:26:05.839Z,1736357165.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:05.893Z,1736357165.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 285.899994 m,
      deltaT: 4.036749 s,
      deltaX: -1.100006 m,
      approachRate: -0.272498 m/s,
      rangeRepo size: 4

2025-01-08T17:26:05.900Z,1736357165.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 285.899994 m,
      bearing: 269.094101 deg,
      lat: 36.904060 deg,
      lon: -122.119258 deg,
      deltaT: 7.816244 s,
      deltaX: -2.899994 m,
      approachRate: -0.371021 m/s,
      posRepo size: 4

2025-01-08T17:26:05.900Z,1736357165.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.90 m.
2025-01-08T17:26:05.908Z,1736357165.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.899994 m,
      nav range: 261.786346 m,
      bearing: 269.103609 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001088 deg/s,
      cmd heading: 266.219737 deg,
      new cmd heading: 266.221104 deg.

2025-01-08T17:26:05.909Z,1736357165.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646435 target range: 285.899994 and range: 285.90 m.
2025-01-08T17:26:06.222Z,1736357166.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:06.322Z,1736357166.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.90 m.
2025-01-08T17:26:06.330Z,1736357166.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.899994 m,
      nav range: 261.515778 m,
      bearing: 269.106865 deg,
      approach rate: -0.629655 m/s,
      LOS rate: 0.007586 deg/s,
      cmd heading: 266.221103 deg,
      new cmd heading: 266.230883 deg.

2025-01-08T17:26:06.331Z,1736357166.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646605 target range: 285.899994 and range: 285.90 m.
2025-01-08T17:26:06.658Z,1736357166.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:06.690Z,1736357166.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:06.695Z,1736357166.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.90 m.
2025-01-08T17:26:06.701Z,1736357166.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.899994 m,
      nav range: 261.233856 m,
      bearing: 269.110563 deg,
      approach rate: -0.757377 m/s,
      LOS rate: 0.009943 deg/s,
      cmd heading: 266.230884 deg,
      new cmd heading: 266.241987 deg.

2025-01-08T17:26:06.706Z,1736357166.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646799 target range: 285.899994 and range: 285.90 m.
2025-01-08T17:26:06.788Z,1736357166.788 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:26:06.789Z,1736357166.789 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:26:06.789Z,1736357166.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:26:07.040Z,1736357167.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487015
2025-01-08T17:26:07.058Z,1736357167.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:07.068Z,1736357167.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.90 m.
2025-01-08T17:26:07.070Z,1736357167.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.899994 m,
      nav range: 260.975128 m,
      bearing: 269.113963 deg,
      approach rate: -0.694320 m/s,
      LOS rate: 0.009134 deg/s,
      cmd heading: 266.241976 deg,
      new cmd heading: 266.252187 deg.

2025-01-08T17:26:07.071Z,1736357167.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646977 target range: 285.899994 and range: 285.90 m.
2025-01-08T17:26:07.296Z,1736357167.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742245
2025-01-08T17:26:07.461Z,1736357167.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:07.471Z,1736357167.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.90 m.
2025-01-08T17:26:07.473Z,1736357167.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.899994 m,
      nav range: 260.737976 m,
      bearing: 269.116161 deg,
      approach rate: -0.588100 m/s,
      LOS rate: 0.005455 deg/s,
      cmd heading: 266.252194 deg,
      new cmd heading: 266.258793 deg.

2025-01-08T17:26:07.474Z,1736357167.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647093 target range: 285.899994 and range: 285.90 m.
2025-01-08T17:26:07.546Z,1736357167.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992190
2025-01-08T17:26:07.796Z,1736357167.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243034
2025-01-08T17:26:07.855Z,1736357167.855 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:07.863Z,1736357167.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.90 m.
2025-01-08T17:26:07.866Z,1736357167.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.899994 m,
      nav range: 260.506378 m,
      bearing: 269.118078 deg,
      approach rate: -0.589837 m/s,
      LOS rate: 0.004886 deg/s,
      cmd heading: 266.258806 deg,
      new cmd heading: 266.264561 deg.

2025-01-08T17:26:07.867Z,1736357167.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647193 target range: 285.899994 and range: 285.90 m.
2025-01-08T17:26:08.051Z,1736357168.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497015
2025-01-08T17:26:08.271Z,1736357168.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:08.298Z,1736357168.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.90 m.
2025-01-08T17:26:08.304Z,1736357168.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749700
2025-01-08T17:26:08.345Z,1736357168.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.899994 m,
      nav range: 260.261688 m,
      bearing: 269.119909 deg,
      approach rate: -0.568281 m/s,
      LOS rate: 0.004258 deg/s,
      cmd heading: 266.264570 deg,
      new cmd heading: 266.270071 deg.

2025-01-08T17:26:08.351Z,1736357168.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647289 target range: 285.899994 and range: 285.90 m.
2025-01-08T17:26:08.552Z,1736357168.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998981
2025-01-08T17:26:08.709Z,1736357168.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:08.721Z,1736357168.721 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:08.724Z,1736357168.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.90 m.
2025-01-08T17:26:08.726Z,1736357168.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.899994 m,
      nav range: 260.017731 m,
      bearing: 269.120645 deg,
      approach rate: -0.567965 m/s,
      LOS rate: 0.001713 deg/s,
      cmd heading: 266.270062 deg,
      new cmd heading: 266.272270 deg.

2025-01-08T17:26:08.752Z,1736357168.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647328 target range: 285.899994 and range: 285.90 m.
2025-01-08T17:26:08.805Z,1736357168.805 [DAT](INFO): DAT read: Rx Time:17:26:07.5149

2025-01-08T17:26:08.805Z,1736357168.805 [DAT](INFO): Rx dataTimestamp_ set to:1736357168.804765
2025-01-08T17:26:08.806Z,1736357168.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252255
2025-01-08T17:26:09.056Z,1736357169.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503006
2025-01-08T17:26:09.136Z,1736357169.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:09.145Z,1736357169.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 285.90 m.
2025-01-08T17:26:09.148Z,1736357169.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 285.899994 m,
      nav range: 259.779358 m,
      bearing: 269.120866 deg,
      approach rate: -0.564903 m/s,
      LOS rate: 0.000524 deg/s,
      cmd heading: 266.272275 deg,
      new cmd heading: 266.272938 deg.

2025-01-08T17:26:09.149Z,1736357169.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647339 target range: 285.899994 and range: 285.90 m.
2025-01-08T17:26:09.348Z,1736357169.348 [DAT](INFO): DAT read: 17:26:07.5149 LVL= 30416, 32289, 32754, 32755, AGC= 67, IDX= 391,-0.24,-0.102,-1.317,-0.175,-0.889, PHS= 0.876,-0.381, 0.712, RAW= 143.1, -19.8, CAL= 148.6, -27.3, ROT=   1.4,  27.3

2025-01-08T17:26:09.353Z,1736357169.353 [DAT](INFO): got valid direction response:
 17:26:07.5149 LVL= 30416, 32289, 32754, 32755, AGC= 67, IDX= 391,-0.24,-0.102,-1.317,-0.175,-0.889, PHS= 0.876,-0.381, 0.712, RAW= 143.1, -19.8, CAL= 148.6, -27.3, ROT=   1.4,  27.3

2025-01-08T17:26:09.357Z,1736357169.357 [DAT](INFO): DAT read: Bearing   1.4,  27.3 (Local)

2025-01-08T17:26:09.358Z,1736357169.358 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.4,  27.3 (Local)

2025-01-08T17:26:09.372Z,1736357169.372 [DAT](INFO): DAT read: Range 10 to 50 : 282.0 m  (Round-trip  376.1 ms) speed  0.8 m/s

2025-01-08T17:26:09.375Z,1736357169.375 [DAT](INFO): DAT read: user:140>

2025-01-08T17:26:09.378Z,1736357169.378 [DAT](INFO): DAT read: Tx time:17:26:08.6346

2025-01-08T17:26:09.378Z,1736357169.378 [DAT](INFO): Ping request sent.
2025-01-08T17:26:09.379Z,1736357169.379 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:26:09.379Z,1736357169.379 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:26:09.380Z,1736357169.380 [DAT](INFO): direction in FSK: [0.888352,0.021711,-0.458650]
2025-01-08T17:26:09.380Z,1736357169.380 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:09.381Z,1736357169.381 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:09.421Z,1736357169.421 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:09.421Z,1736357169.421 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:09.561Z,1736357169.561 [DAT](INFO): DAT read: TxSync time:17:26:08.6338

2025-01-08T17:26:09.595Z,1736357169.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:09.628Z,1736357169.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 282.000000 m,
      deltaT: 3.781300 s,
      deltaX: -3.899994 m,
      approachRate: -1.031390 m/s,
      rangeRepo size: 4

2025-01-08T17:26:09.630Z,1736357169.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 282.000000 m,
      bearing: 272.242355 deg,
      lat: 36.904060 deg,
      lon: -122.119230 deg,
      deltaT: 3.781300 s,
      deltaX: -3.899994 m,
      approachRate: -1.031390 m/s,
      posRepo size: 4

2025-01-08T17:26:09.631Z,1736357169.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m.
2025-01-08T17:26:09.638Z,1736357169.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.000000 m,
      nav range: 257.046204 m,
      bearing: 269.111671 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000524 deg/s,
      cmd heading: 266.272930 deg,
      new cmd heading: 266.273686 deg.

2025-01-08T17:26:09.639Z,1736357169.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647353 target range: 282.000000 and range: 282.00 m.
2025-01-08T17:26:09.960Z,1736357169.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:09.969Z,1736357169.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m.
2025-01-08T17:26:09.971Z,1736357169.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.000000 m,
      nav range: 256.850342 m,
      bearing: 269.111146 deg,
      approach rate: -0.571749 m/s,
      LOS rate: -0.001533 deg/s,
      cmd heading: 266.273695 deg,
      new cmd heading: 266.272120 deg.

2025-01-08T17:26:09.973Z,1736357169.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647325 target range: 282.000000 and range: 282.00 m.
2025-01-08T17:26:10.429Z,1736357170.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:10.453Z,1736357170.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m.
2025-01-08T17:26:10.461Z,1736357170.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.000000 m,
      nav range: 256.593750 m,
      bearing: 269.109459 deg,
      approach rate: -0.529446 m/s,
      LOS rate: -0.003485 deg/s,
      cmd heading: 266.272111 deg,
      new cmd heading: 266.267044 deg.

2025-01-08T17:26:10.462Z,1736357170.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647237 target range: 282.000000 and range: 282.00 m.
2025-01-08T17:26:10.807Z,1736357170.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:10.818Z,1736357170.818 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:10.820Z,1736357170.820 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:26:10.820Z,1736357170.820 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:26:10.821Z,1736357170.821 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:26:10.845Z,1736357170.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m.
2025-01-08T17:26:10.852Z,1736357170.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.000000 m,
      nav range: 256.388519 m,
      bearing: 269.108095 deg,
      approach rate: -0.523832 m/s,
      LOS rate: -0.003485 deg/s,
      cmd heading: 266.267056 deg,
      new cmd heading: 266.262961 deg.

2025-01-08T17:26:10.853Z,1736357170.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647165 target range: 282.000000 and range: 282.00 m.
2025-01-08T17:26:11.072Z,1736357171.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.693636
2025-01-08T17:26:11.168Z,1736357171.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:11.177Z,1736357171.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m.
2025-01-08T17:26:11.180Z,1736357171.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.000000 m,
      nav range: 256.188477 m,
      bearing: 269.106651 deg,
      approach rate: -0.603817 m/s,
      LOS rate: -0.004360 deg/s,
      cmd heading: 266.262958 deg,
      new cmd heading: 266.258625 deg.

2025-01-08T17:26:11.181Z,1736357171.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647089 target range: 282.000000 and range: 282.00 m.
2025-01-08T17:26:11.326Z,1736357171.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.946970
2025-01-08T17:26:11.577Z,1736357171.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.197776
2025-01-08T17:26:11.622Z,1736357171.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:11.643Z,1736357171.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m.
2025-01-08T17:26:11.650Z,1736357171.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.000000 m,
      nav range: 255.922028 m,
      bearing: 269.104409 deg,
      approach rate: -0.571581 m/s,
      LOS rate: -0.004815 deg/s,
      cmd heading: 266.258614 deg,
      new cmd heading: 266.251880 deg.

2025-01-08T17:26:11.651Z,1736357171.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646972 target range: 282.000000 and range: 282.00 m.
2025-01-08T17:26:11.830Z,1736357171.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.451288
2025-01-08T17:26:11.996Z,1736357171.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:12.005Z,1736357172.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m.
2025-01-08T17:26:12.008Z,1736357172.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.000000 m,
      nav range: 255.702194 m,
      bearing: 269.102556 deg,
      approach rate: -0.607164 m/s,
      LOS rate: -0.005124 deg/s,
      cmd heading: 266.251893 deg,
      new cmd heading: 266.246328 deg.

2025-01-08T17:26:12.009Z,1736357172.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646875 target range: 282.000000 and range: 282.00 m.
2025-01-08T17:26:12.082Z,1736357172.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.702843
2025-01-08T17:26:12.332Z,1736357172.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.953689
2025-01-08T17:26:12.453Z,1736357172.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:12.464Z,1736357172.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m.
2025-01-08T17:26:12.467Z,1736357172.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.000000 m,
      nav range: 255.413483 m,
      bearing: 269.100504 deg,
      approach rate: -0.628310 m/s,
      LOS rate: -0.004469 deg/s,
      cmd heading: 266.246320 deg,
      new cmd heading: 266.240159 deg.

2025-01-08T17:26:12.468Z,1736357172.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646767 target range: 282.000000 and range: 282.00 m.
2025-01-08T17:26:12.584Z,1736357172.584 [DAT](INFO): DAT read: Rx Time:17:26:11.4118

2025-01-08T17:26:12.585Z,1736357172.585 [DAT](INFO): Rx dataTimestamp_ set to:1736357172.584553
2025-01-08T17:26:12.585Z,1736357172.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.206759
2025-01-08T17:26:12.786Z,1736357172.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:12.795Z,1736357172.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m.
2025-01-08T17:26:12.798Z,1736357172.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.000000 m,
      nav range: 255.203308 m,
      bearing: 269.099040 deg,
      approach rate: -0.634978 m/s,
      LOS rate: -0.004429 deg/s,
      cmd heading: 266.240145 deg,
      new cmd heading: 266.235748 deg.

2025-01-08T17:26:12.799Z,1736357172.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646690 target range: 282.000000 and range: 282.00 m.
2025-01-08T17:26:12.837Z,1736357172.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.458157
2025-01-08T17:26:13.090Z,1736357173.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.711569
2025-01-08T17:26:13.203Z,1736357173.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:13.219Z,1736357173.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:13.221Z,1736357173.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.00 m.
2025-01-08T17:26:13.224Z,1736357173.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.000000 m,
      nav range: 254.939835 m,
      bearing: 269.097200 deg,
      approach rate: -0.618687 m/s,
      LOS rate: -0.004324 deg/s,
      cmd heading: 266.235747 deg,
      new cmd heading: 266.230222 deg.

2025-01-08T17:26:13.225Z,1736357173.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646594 target range: 282.000000 and range: 282.00 m.
2025-01-08T17:26:13.347Z,1736357173.347 [DAT](INFO): DAT read: 17:26:11.4118 LVL= 23264, 28481, 26338, 32755, AGC= 64, IDX= 412, 0.22, 2.160, 0.785, 2.011, 1.408, PHS= 0.841,-0.575, 0.601, RAW= 140.9, -13.1, CAL= 147.3, -22.3, ROT=   2.7,  22.3

2025-01-08T17:26:13.348Z,1736357173.348 [DAT](INFO): got valid direction response:
 17:26:11.4118 LVL= 23264, 28481, 26338, 32755, AGC= 64, IDX= 412, 0.22, 2.160, 0.785, 2.011, 1.408, PHS= 0.841,-0.575, 0.601, RAW= 140.9, -13.1, CAL= 147.3, -22.3, ROT=   2.7,  22.3

2025-01-08T17:26:13.351Z,1736357173.351 [DAT](INFO): DAT read: Bearing   2.7,  22.3 (Local)

2025-01-08T17:26:13.353Z,1736357173.353 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.7,  22.3 (Local)

2025-01-08T17:26:13.362Z,1736357173.362 [DAT](INFO): DAT read: Range 10 to 50 : 279.7 m  (Round-trip  373.0 ms) speed  0.8 m/s

2025-01-08T17:26:13.369Z,1736357173.369 [DAT](INFO): DAT read: user:141>

2025-01-08T17:26:13.378Z,1736357173.378 [DAT](INFO): DAT read: Tx time:17:26:12.5346

2025-01-08T17:26:13.388Z,1736357173.388 [DAT](INFO): Ping request sent.
2025-01-08T17:26:13.388Z,1736357173.388 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:26:13.391Z,1736357173.391 [DAT](INFO): DAT read: TxSync time:17:26:12.5338

2025-01-08T17:26:13.425Z,1736357173.425 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:26:13.440Z,1736357173.440 [DAT](INFO): direction in FSK: [0.924183,0.043583,-0.379456]
2025-01-08T17:26:13.440Z,1736357173.440 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:13.440Z,1736357173.440 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:13.453Z,1736357173.453 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:13.453Z,1736357173.453 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:13.638Z,1736357173.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:13.670Z,1736357173.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 279.700012 m,
      deltaT: 4.029986 s,
      deltaX: -2.299988 m,
      approachRate: -0.570719 m/s,
      rangeRepo size: 4

2025-01-08T17:26:13.676Z,1736357173.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 279.700012 m,
      bearing: 272.772821 deg,
      lat: 36.904084 deg,
      lon: -122.119230 deg,
      deltaT: 4.029986 s,
      deltaX: -2.299988 m,
      approachRate: -0.570719 m/s,
      posRepo size: 4

2025-01-08T17:26:13.678Z,1736357173.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.70 m.
2025-01-08T17:26:13.681Z,1736357173.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.700012 m,
      nav range: 254.615189 m,
      bearing: 269.712683 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004324 deg/s,
      cmd heading: 266.230228 deg,
      new cmd heading: 266.224414 deg.

2025-01-08T17:26:13.682Z,1736357173.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646492 target range: 279.700012 and range: 279.70 m.
2025-01-08T17:26:14.012Z,1736357174.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:14.030Z,1736357174.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.70 m.
2025-01-08T17:26:14.037Z,1736357174.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.700012 m,
      nav range: 254.361389 m,
      bearing: 269.712407 deg,
      approach rate: -0.703872 m/s,
      LOS rate: -0.000768 deg/s,
      cmd heading: 266.224409 deg,
      new cmd heading: 266.223578 deg.

2025-01-08T17:26:14.038Z,1736357174.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646478 target range: 279.700012 and range: 279.70 m.
2025-01-08T17:26:14.466Z,1736357174.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:14.498Z,1736357174.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.70 m.
2025-01-08T17:26:14.506Z,1736357174.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.700012 m,
      nav range: 254.027176 m,
      bearing: 269.712222 deg,
      approach rate: -0.713245 m/s,
      LOS rate: -0.000395 deg/s,
      cmd heading: 266.223589 deg,
      new cmd heading: 266.223034 deg.

2025-01-08T17:26:14.507Z,1736357174.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646469 target range: 279.700012 and range: 279.70 m.
2025-01-08T17:26:14.805Z,1736357174.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:14.833Z,1736357174.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.70 m.
2025-01-08T17:26:14.840Z,1736357174.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.700012 m,
      nav range: 253.777618 m,
      bearing: 269.712228 deg,
      approach rate: -0.746072 m/s,
      LOS rate: 0.000018 deg/s,
      cmd heading: 266.223043 deg,
      new cmd heading: 266.223061 deg.

2025-01-08T17:26:14.841Z,1736357174.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646469 target range: 279.700012 and range: 279.70 m.
2025-01-08T17:26:15.212Z,1736357175.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:15.220Z,1736357175.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.70 m.
2025-01-08T17:26:15.239Z,1736357175.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.700012 m,
      nav range: 253.477768 m,
      bearing: 269.712245 deg,
      approach rate: -0.773430 m/s,
      LOS rate: 0.000045 deg/s,
      cmd heading: 266.223070 deg,
      new cmd heading: 266.223122 deg.

2025-01-08T17:26:15.240Z,1736357175.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646470 target range: 279.700012 and range: 279.70 m.
2025-01-08T17:26:15.649Z,1736357175.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:15.675Z,1736357175.675 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:15.678Z,1736357175.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.70 m.
2025-01-08T17:26:15.690Z,1736357175.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.700012 m,
      nav range: 253.136414 m,
      bearing: 269.713705 deg,
      approach rate: -0.745691 m/s,
      LOS rate: 0.003193 deg/s,
      cmd heading: 266.223125 deg,
      new cmd heading: 266.227509 deg.

2025-01-08T17:26:15.694Z,1736357175.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646546 target range: 279.700012 and range: 279.70 m.
2025-01-08T17:26:15.861Z,1736357175.861 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:26:15.861Z,1736357175.861 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:26:15.861Z,1736357175.861 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:26:16.060Z,1736357176.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:16.069Z,1736357176.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.70 m.
2025-01-08T17:26:16.088Z,1736357176.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.700012 m,
      nav range: 252.814453 m,
      bearing: 269.715292 deg,
      approach rate: -0.823622 m/s,
      LOS rate: 0.004065 deg/s,
      cmd heading: 266.227496 deg,
      new cmd heading: 266.232264 deg.

2025-01-08T17:26:16.089Z,1736357176.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646630 target range: 279.700012 and range: 279.70 m.
2025-01-08T17:26:16.113Z,1736357176.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725719
2025-01-08T17:26:16.364Z,1736357176.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976775
2025-01-08T17:26:16.497Z,1736357176.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:16.506Z,1736357176.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.70 m.
2025-01-08T17:26:16.509Z,1736357176.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.700012 m,
      nav range: 252.476074 m,
      bearing: 269.718824 deg,
      approach rate: -0.775007 m/s,
      LOS rate: 0.008099 deg/s,
      cmd heading: 266.232277 deg,
      new cmd heading: 266.242886 deg.

2025-01-08T17:26:16.510Z,1736357176.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646815 target range: 279.700012 and range: 279.70 m.
2025-01-08T17:26:16.617Z,1736357176.617 [DAT](INFO): DAT read: Rx Time:17:26:15.3096

2025-01-08T17:26:16.617Z,1736357176.617 [DAT](INFO): Rx dataTimestamp_ set to:1736357176.616700
2025-01-08T17:26:16.618Z,1736357176.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229878
2025-01-08T17:26:16.831Z,1736357176.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:16.856Z,1736357176.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.70 m.
2025-01-08T17:26:16.858Z,1736357176.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.700012 m,
      nav range: 252.217468 m,
      bearing: 269.721693 deg,
      approach rate: -0.739711 m/s,
      LOS rate: 0.008216 deg/s,
      cmd heading: 266.242878 deg,
      new cmd heading: 266.251495 deg.

2025-01-08T17:26:16.864Z,1736357176.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646965 target range: 279.700012 and range: 279.70 m.
2025-01-08T17:26:16.869Z,1736357176.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481064
2025-01-08T17:26:17.124Z,1736357177.124 [DAT](INFO): DAT read: Range 10 to 50 : 278.1 m  (Round-trip  370.8 ms) speed  0.0 m/s

2025-01-08T17:26:17.125Z,1736357177.125 [DAT](INFO): DAT read: user:142>

2025-01-08T17:26:17.127Z,1736357177.127 [DAT](INFO): DAT read: Tx time:17:26:16.3847

2025-01-08T17:26:17.128Z,1736357177.128 [DAT](INFO): Ping request sent.
2025-01-08T17:26:17.128Z,1736357177.128 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:26:17.129Z,1736357177.129 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:26:17.129Z,1736357177.129 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:17.131Z,1736357177.131 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:17.255Z,1736357177.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:17.272Z,1736357177.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 278.100006 m,
      deltaT: 3.780845 s,
      deltaX: -1.600006 m,
      approachRate: -0.423187 m/s,
      rangeRepo size: 4

2025-01-08T17:26:17.273Z,1736357177.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.70 m.
2025-01-08T17:26:17.280Z,1736357177.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.700012 m,
      nav range: 251.892563 m,
      bearing: 269.725443 deg,
      approach rate: -0.788680 m/s,
      LOS rate: 0.009115 deg/s,
      cmd heading: 266.251484 deg,
      new cmd heading: 266.262748 deg.

2025-01-08T17:26:17.281Z,1736357177.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647161 target range: 279.700012 and range: 278.10 m.
2025-01-08T17:26:17.373Z,1736357177.373 [DAT](INFO): DAT read: TxSync time:17:26:16.3839

2025-01-08T17:26:17.665Z,1736357177.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:17.674Z,1736357177.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.70 m.
2025-01-08T17:26:17.679Z,1736357177.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.700012 m,
      nav range: 251.575134 m,
      bearing: 269.729098 deg,
      approach rate: -0.779881 m/s,
      LOS rate: 0.008991 deg/s,
      cmd heading: 266.262740 deg,
      new cmd heading: 266.273718 deg.

2025-01-08T17:26:17.680Z,1736357177.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647353 target range: 279.700012 and range: 278.10 m.
2025-01-08T17:26:18.039Z,1736357178.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:18.045Z,1736357178.045 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:18.048Z,1736357178.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.70 m.
2025-01-08T17:26:18.050Z,1736357178.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.700012 m,
      nav range: 251.289078 m,
      bearing: 269.732583 deg,
      approach rate: -0.766817 m/s,
      LOS rate: 0.009354 deg/s,
      cmd heading: 266.273723 deg,
      new cmd heading: 266.284191 deg.

2025-01-08T17:26:18.068Z,1736357178.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647536 target range: 279.700012 and range: 278.10 m.
2025-01-08T17:26:18.129Z,1736357178.129 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:26:18.129Z,1736357178.129 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:26:18.130Z,1736357178.130 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:26:18.380Z,1736357178.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252398
2025-01-08T17:26:18.524Z,1736357178.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:18.533Z,1736357178.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.70 m.
2025-01-08T17:26:18.537Z,1736357178.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.700012 m,
      nav range: 250.928802 m,
      bearing: 269.736831 deg,
      approach rate: -0.741321 m/s,
      LOS rate: 0.008753 deg/s,
      cmd heading: 266.284187 deg,
      new cmd heading: 266.296948 deg.

2025-01-08T17:26:18.538Z,1736357178.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647758 target range: 279.700012 and range: 278.10 m.
2025-01-08T17:26:18.633Z,1736357178.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504595
2025-01-08T17:26:18.850Z,1736357178.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:18.859Z,1736357178.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.70 m.
2025-01-08T17:26:18.862Z,1736357178.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.700012 m,
      nav range: 250.686691 m,
      bearing: 269.739715 deg,
      approach rate: -0.744328 m/s,
      LOS rate: 0.008873 deg/s,
      cmd heading: 266.296945 deg,
      new cmd heading: 266.305604 deg.

2025-01-08T17:26:18.864Z,1736357178.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647910 target range: 279.700012 and range: 278.10 m.
2025-01-08T17:26:18.884Z,1736357178.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756266
2025-01-08T17:26:19.136Z,1736357179.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008424
2025-01-08T17:26:19.255Z,1736357179.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:19.264Z,1736357179.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.70 m.
2025-01-08T17:26:19.267Z,1736357179.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.700012 m,
      nav range: 250.386597 m,
      bearing: 269.743168 deg,
      approach rate: -0.740230 m/s,
      LOS rate: 0.008529 deg/s,
      cmd heading: 266.305606 deg,
      new cmd heading: 266.315979 deg.

2025-01-08T17:26:19.268Z,1736357179.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648091 target range: 279.700012 and range: 278.10 m.
2025-01-08T17:26:19.391Z,1736357179.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262454
2025-01-08T17:26:19.640Z,1736357179.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512396
2025-01-08T17:26:19.703Z,1736357179.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:19.734Z,1736357179.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.70 m.
2025-01-08T17:26:19.740Z,1736357179.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.700012 m,
      nav range: 250.067902 m,
      bearing: 269.746421 deg,
      approach rate: -0.678859 m/s,
      LOS rate: 0.006938 deg/s,
      cmd heading: 266.315988 deg,
      new cmd heading: 266.325759 deg.

2025-01-08T17:26:19.741Z,1736357179.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648262 target range: 279.700012 and range: 278.10 m.
2025-01-08T17:26:19.892Z,1736357179.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764316
2025-01-08T17:26:20.057Z,1736357180.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:20.063Z,1736357180.063 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:20.065Z,1736357180.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.70 m.
2025-01-08T17:26:20.069Z,1736357180.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.700012 m,
      nav range: 249.815979 m,
      bearing: 269.748930 deg,
      approach rate: -0.759169 m/s,
      LOS rate: 0.007569 deg/s,
      cmd heading: 266.325769 deg,
      new cmd heading: 266.333304 deg.

2025-01-08T17:26:20.070Z,1736357180.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648393 target range: 279.700012 and range: 278.10 m.
2025-01-08T17:26:20.144Z,1736357180.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016351
2025-01-08T17:26:20.396Z,1736357180.396 [DAT](INFO): DAT read: Rx Time:17:26:19.1573

2025-01-08T17:26:20.397Z,1736357180.397 [DAT](INFO): Rx dataTimestamp_ set to:1736357180.396564
2025-01-08T17:26:20.397Z,1736357180.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269460
2025-01-08T17:26:20.566Z,1736357180.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:20.575Z,1736357180.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.70 m.
2025-01-08T17:26:20.578Z,1736357180.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.700012 m,
      nav range: 249.469833 m,
      bearing: 269.750841 deg,
      approach rate: -0.679591 m/s,
      LOS rate: 0.003757 deg/s,
      cmd heading: 266.333309 deg,
      new cmd heading: 266.339050 deg.

2025-01-08T17:26:20.580Z,1736357180.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648493 target range: 279.700012 and range: 278.10 m.
2025-01-08T17:26:20.649Z,1736357180.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520733
2025-01-08T17:26:20.906Z,1736357180.906 [DAT](INFO): DAT read: 17:26:19.1573 LVL= 18192, 23201, 24178, 27379, AGC= 61, IDX= 424, 0.28,-2.067, 2.956,-2.121,-2.864, PHS= 0.885,-0.416, 0.740, RAW= 144.2, -19.1, CAL= 149.8, -26.6, ROT=   0.2,  26.6

2025-01-08T17:26:20.907Z,1736357180.907 [DAT](INFO): got valid direction response:
 17:26:19.1573 LVL= 18192, 23201, 24178, 27379, AGC= 61, IDX= 424, 0.28,-2.067, 2.956,-2.121,-2.864, PHS= 0.885,-0.416, 0.740, RAW= 144.2, -19.1, CAL= 149.8, -26.6, ROT=   0.2,  26.6

2025-01-08T17:26:20.908Z,1736357180.908 [DAT](INFO): DAT read: Bearing   0.2,  26.6 (Local)

2025-01-08T17:26:20.909Z,1736357180.909 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.2,  26.6 (Local)

2025-01-08T17:26:20.916Z,1736357180.916 [DAT](INFO): DAT read: Range 10 to 50 : 276.3 m  (Round-trip  368.4 ms) speed  0.5 m/s

2025-01-08T17:26:20.916Z,1736357180.916 [DAT](INFO): DAT read: user:143>

2025-01-08T17:26:20.917Z,1736357180.917 [DAT](INFO): DAT read: Tx time:17:26:20.2347

2025-01-08T17:26:20.917Z,1736357180.917 [DAT](INFO): Ping request sent.
2025-01-08T17:26:20.918Z,1736357180.918 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:26:20.918Z,1736357180.918 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:26:20.919Z,1736357180.919 [DAT](INFO): direction in FSK: [0.894149,0.003121,-0.447759]
2025-01-08T17:26:20.923Z,1736357180.923 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:20.924Z,1736357180.924 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:20.932Z,1736357180.932 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:20.932Z,1736357180.932 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:20.985Z,1736357180.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:21.047Z,1736357181.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 276.299988 m,
      deltaT: 3.779271 s,
      deltaX: -1.800018 m,
      approachRate: -0.476287 m/s,
      rangeRepo size: 4

2025-01-08T17:26:21.053Z,1736357181.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 276.299988 m,
      bearing: 269.798750 deg,
      lat: 36.904086 deg,
      lon: -122.119208 deg,
      deltaT: 7.560116 s,
      deltaX: -3.400024 m,
      approachRate: -0.449732 m/s,
      posRepo size: 4

2025-01-08T17:26:21.054Z,1736357181.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.30 m.
2025-01-08T17:26:21.068Z,1736357181.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.299988 m,
      nav range: 247.225494 m,
      bearing: 269.799585 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003757 deg/s,
      cmd heading: 266.339047 deg,
      new cmd heading: 266.344360 deg.

2025-01-08T17:26:21.069Z,1736357181.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648586 target range: 276.299988 and range: 276.30 m.
2025-01-08T17:26:21.154Z,1736357181.154 [DAT](INFO): DAT read: TxSync time:17:26:20.2339

2025-01-08T17:26:21.375Z,1736357181.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:21.385Z,1736357181.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.30 m.
2025-01-08T17:26:21.387Z,1736357181.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.299988 m,
      nav range: 246.960449 m,
      bearing: 269.801117 deg,
      approach rate: -0.783200 m/s,
      LOS rate: 0.004534 deg/s,
      cmd heading: 266.344347 deg,
      new cmd heading: 266.348949 deg.

2025-01-08T17:26:21.389Z,1736357181.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648666 target range: 276.299988 and range: 276.30 m.
2025-01-08T17:26:21.780Z,1736357181.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:21.788Z,1736357181.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.30 m.
2025-01-08T17:26:21.791Z,1736357181.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.299988 m,
      nav range: 246.696671 m,
      bearing: 269.801113 deg,
      approach rate: -0.653673 m/s,
      LOS rate: -0.000012 deg/s,
      cmd heading: 266.348937 deg,
      new cmd heading: 266.348922 deg.

2025-01-08T17:26:21.792Z,1736357181.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648665 target range: 276.299988 and range: 276.30 m.
2025-01-08T17:26:22.162Z,1736357182.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:22.169Z,1736357182.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:22.171Z,1736357182.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.30 m.
2025-01-08T17:26:22.174Z,1736357182.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.299988 m,
      nav range: 246.447021 m,
      bearing: 269.801030 deg,
      approach rate: -0.651607 m/s,
      LOS rate: -0.000216 deg/s,
      cmd heading: 266.348909 deg,
      new cmd heading: 266.348661 deg.

2025-01-08T17:26:22.175Z,1736357182.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648661 target range: 276.299988 and range: 276.30 m.
2025-01-08T17:26:22.412Z,1736357182.412 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:26:22.412Z,1736357182.412 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:26:22.412Z,1736357182.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:26:22.613Z,1736357182.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:22.622Z,1736357182.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.30 m.
2025-01-08T17:26:22.625Z,1736357182.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.299988 m,
      nav range: 246.164352 m,
      bearing: 269.801003 deg,
      approach rate: -0.626594 m/s,
      LOS rate: -0.000061 deg/s,
      cmd heading: 266.348664 deg,
      new cmd heading: 266.348581 deg.

2025-01-08T17:26:22.627Z,1736357182.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648660 target range: 276.299988 and range: 276.30 m.
2025-01-08T17:26:22.665Z,1736357182.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746997
2025-01-08T17:26:22.916Z,1736357182.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998721
2025-01-08T17:26:22.957Z,1736357182.957 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:22.966Z,1736357182.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.30 m.
2025-01-08T17:26:22.969Z,1736357182.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.299988 m,
      nav range: 245.949020 m,
      bearing: 269.800808 deg,
      approach rate: -0.625896 m/s,
      LOS rate: -0.000567 deg/s,
      cmd heading: 266.348582 deg,
      new cmd heading: 266.347996 deg.

2025-01-08T17:26:22.970Z,1736357182.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648650 target range: 276.299988 and range: 276.30 m.
2025-01-08T17:26:23.168Z,1736357183.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250723
2025-01-08T17:26:23.364Z,1736357183.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:23.393Z,1736357183.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.30 m.
2025-01-08T17:26:23.396Z,1736357183.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.299988 m,
      nav range: 245.694229 m,
      bearing: 269.800483 deg,
      approach rate: -0.597759 m/s,
      LOS rate: -0.000763 deg/s,
      cmd heading: 266.348008 deg,
      new cmd heading: 266.347033 deg.

2025-01-08T17:26:23.397Z,1736357183.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648633 target range: 276.299988 and range: 276.30 m.
2025-01-08T17:26:23.444Z,1736357183.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525906
2025-01-08T17:26:23.693Z,1736357183.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775742
2025-01-08T17:26:23.797Z,1736357183.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:23.805Z,1736357183.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.30 m.
2025-01-08T17:26:23.809Z,1736357183.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.299988 m,
      nav range: 245.431290 m,
      bearing: 269.799892 deg,
      approach rate: -0.636907 m/s,
      LOS rate: -0.001434 deg/s,
      cmd heading: 266.347024 deg,
      new cmd heading: 266.345248 deg.

2025-01-08T17:26:23.810Z,1736357183.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648602 target range: 276.299988 and range: 276.30 m.
2025-01-08T17:26:23.945Z,1736357183.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027129
2025-01-08T17:26:24.182Z,1736357184.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:24.189Z,1736357184.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:24.191Z,1736357184.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.30 m.
2025-01-08T17:26:24.194Z,1736357184.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.299988 m,
      nav range: 245.197037 m,
      bearing: 269.799385 deg,
      approach rate: -0.607243 m/s,
      LOS rate: -0.001315 deg/s,
      cmd heading: 266.345248 deg,
      new cmd heading: 266.343726 deg.

2025-01-08T17:26:24.196Z,1736357184.196 [DAT](INFO): DAT read: Rx Time:17:26:23.0041

2025-01-08T17:26:24.197Z,1736357184.197 [DAT](INFO): Rx dataTimestamp_ set to:1736357184.196620
2025-01-08T17:26:24.197Z,1736357184.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279860
2025-01-08T17:26:24.198Z,1736357184.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648575 target range: 276.299988 and range: 276.30 m.
2025-01-08T17:26:24.448Z,1736357184.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530773
2025-01-08T17:26:24.634Z,1736357184.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:24.647Z,1736357184.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.30 m.
2025-01-08T17:26:24.650Z,1736357184.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.299988 m,
      nav range: 244.923233 m,
      bearing: 269.799583 deg,
      approach rate: -0.601139 m/s,
      LOS rate: 0.000437 deg/s,
      cmd heading: 266.343718 deg,
      new cmd heading: 266.344315 deg.

2025-01-08T17:26:24.651Z,1736357184.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648585 target range: 276.299988 and range: 276.30 m.
2025-01-08T17:26:24.707Z,1736357184.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788501
2025-01-08T17:26:24.958Z,1736357184.958 [DAT](INFO): DAT read: 17:26:23.0041 LVL= 21648, 30465, 24402, 32755, AGC= 63, IDX= 408, 0.44,-2.583, 2.398,-2.643, 2.920, PHS= 0.868,-0.475, 0.718, RAW= 144.1, -17.1, CAL= 150.2, -25.0, ROT= 359.8,  25.0

2025-01-08T17:26:24.961Z,1736357184.961 [DAT](INFO): got valid direction response:
 17:26:23.0041 LVL= 21648, 30465, 24402, 32755, AGC= 63, IDX= 408, 0.44,-2.583, 2.398,-2.643, 2.920, PHS= 0.868,-0.475, 0.718, RAW= 144.1, -17.1, CAL= 150.2, -25.0, ROT= 359.8,  25.0

2025-01-08T17:26:24.962Z,1736357184.962 [DAT](INFO): DAT read: Bearing 359.8,  25.0 (Local)

2025-01-08T17:26:24.962Z,1736357184.962 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.8,  25.0 (Local)

2025-01-08T17:26:24.964Z,1736357184.964 [DAT](INFO): DAT read: Range 10 to 50 : 273.9 m  (Round-trip  365.3 ms) speed  0.5 m/s

2025-01-08T17:26:24.965Z,1736357184.965 [DAT](INFO): DAT read: user:144>

2025-01-08T17:26:24.966Z,1736357184.966 [DAT](INFO): DAT read: Tx time:17:26:24.0847

2025-01-08T17:26:24.966Z,1736357184.966 [DAT](INFO): Ping request sent.
2025-01-08T17:26:24.966Z,1736357184.966 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:26:24.967Z,1736357184.967 [DAT](INFO): DAT read: TxSync time:17:26:24.0839

2025-01-08T17:26:24.968Z,1736357184.968 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:26:24.969Z,1736357184.969 [DAT](INFO): direction in FSK: [0.906302,-0.003164,-0.422618]
2025-01-08T17:26:24.969Z,1736357184.969 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:24.969Z,1736357184.969 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:24.972Z,1736357184.972 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:24.972Z,1736357184.972 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:25.060Z,1736357185.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:25.087Z,1736357185.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 273.899994 m,
      deltaT: 4.051862 s,
      deltaX: -2.399994 m,
      approachRate: -0.592319 m/s,
      rangeRepo size: 4

2025-01-08T17:26:25.098Z,1736357185.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 273.899994 m,
      bearing: 269.746902 deg,
      lat: 36.904086 deg,
      lon: -122.119230 deg,
      deltaT: 4.051862 s,
      deltaX: -2.399994 m,
      approachRate: -0.592319 m/s,
      posRepo size: 4

2025-01-08T17:26:25.098Z,1736357185.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.90 m.
2025-01-08T17:26:25.105Z,1736357185.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.899994 m,
      nav range: 246.623535 m,
      bearing: 269.801400 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000437 deg/s,
      cmd heading: 266.344320 deg,
      new cmd heading: 266.344895 deg.

2025-01-08T17:26:25.106Z,1736357185.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648595 target range: 273.899994 and range: 273.90 m.
2025-01-08T17:26:25.389Z,1736357185.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:25.406Z,1736357185.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.90 m.
2025-01-08T17:26:25.413Z,1736357185.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.899994 m,
      nav range: 246.423645 m,
      bearing: 269.801667 deg,
      approach rate: -0.625106 m/s,
      LOS rate: 0.000835 deg/s,
      cmd heading: 266.344893 deg,
      new cmd heading: 266.345694 deg.

2025-01-08T17:26:25.414Z,1736357185.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648609 target range: 273.899994 and range: 273.90 m.
2025-01-08T17:26:25.803Z,1736357185.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:25.813Z,1736357185.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.90 m.
2025-01-08T17:26:25.834Z,1736357185.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.899994 m,
      nav range: 246.174332 m,
      bearing: 269.802124 deg,
      approach rate: -0.612458 m/s,
      LOS rate: 0.001124 deg/s,
      cmd heading: 266.345686 deg,
      new cmd heading: 266.347058 deg.

2025-01-08T17:26:25.835Z,1736357185.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648633 target range: 273.899994 and range: 273.90 m.
2025-01-08T17:26:26.204Z,1736357186.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:26.219Z,1736357186.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:26.221Z,1736357186.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.90 m.
2025-01-08T17:26:26.224Z,1736357186.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.899994 m,
      nav range: 245.932358 m,
      bearing: 269.802622 deg,
      approach rate: -0.592823 m/s,
      LOS rate: 0.001223 deg/s,
      cmd heading: 266.347052 deg,
      new cmd heading: 266.348549 deg.

2025-01-08T17:26:26.225Z,1736357186.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648659 target range: 273.899994 and range: 273.90 m.
2025-01-08T17:26:26.464Z,1736357186.464 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:26:26.464Z,1736357186.464 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:26:26.464Z,1736357186.464 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:26:26.680Z,1736357186.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:26.692Z,1736357186.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.90 m.
2025-01-08T17:26:26.717Z,1736357186.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751013
2025-01-08T17:26:26.723Z,1736357186.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.899994 m,
      nav range: 245.633255 m,
      bearing: 269.804785 deg,
      approach rate: -0.636083 m/s,
      LOS rate: 0.004605 deg/s,
      cmd heading: 266.348554 deg,
      new cmd heading: 266.355051 deg.

2025-01-08T17:26:26.724Z,1736357186.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648773 target range: 273.899994 and range: 273.90 m.
2025-01-08T17:26:26.975Z,1736357186.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008984
2025-01-08T17:26:26.998Z,1736357186.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:27.006Z,1736357187.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.90 m.
2025-01-08T17:26:27.009Z,1736357187.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.899994 m,
      nav range: 245.433304 m,
      bearing: 269.806149 deg,
      approach rate: -0.635939 m/s,
      LOS rate: 0.004341 deg/s,
      cmd heading: 266.355057 deg,
      new cmd heading: 266.359151 deg.

2025-01-08T17:26:27.011Z,1736357187.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648844 target range: 273.899994 and range: 273.90 m.
2025-01-08T17:26:27.234Z,1736357187.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268315
2025-01-08T17:26:27.398Z,1736357187.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:27.406Z,1736357187.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.90 m.
2025-01-08T17:26:27.409Z,1736357187.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.899994 m,
      nav range: 245.181747 m,
      bearing: 269.807819 deg,
      approach rate: -0.628935 m/s,
      LOS rate: 0.004180 deg/s,
      cmd heading: 266.359155 deg,
      new cmd heading: 266.364171 deg.

2025-01-08T17:26:27.411Z,1736357187.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648932 target range: 273.899994 and range: 273.90 m.
2025-01-08T17:26:27.481Z,1736357187.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514380
2025-01-08T17:26:27.732Z,1736357187.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766282
2025-01-08T17:26:27.825Z,1736357187.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:27.835Z,1736357187.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.90 m.
2025-01-08T17:26:27.840Z,1736357187.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.899994 m,
      nav range: 244.901840 m,
      bearing: 269.809973 deg,
      approach rate: -0.652551 m/s,
      LOS rate: 0.005026 deg/s,
      cmd heading: 266.364182 deg,
      new cmd heading: 266.370650 deg.

2025-01-08T17:26:27.841Z,1736357187.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649045 target range: 273.899994 and range: 273.90 m.
2025-01-08T17:26:27.984Z,1736357187.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018111
2025-01-08T17:26:28.206Z,1736357188.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:28.214Z,1736357188.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.90 m.
2025-01-08T17:26:28.217Z,1736357188.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.899994 m,
      nav range: 244.652451 m,
      bearing: 269.811880 deg,
      approach rate: -0.657155 m/s,
      LOS rate: 0.005029 deg/s,
      cmd heading: 266.370657 deg,
      new cmd heading: 266.376383 deg.

2025-01-08T17:26:28.218Z,1736357188.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649145 target range: 273.899994 and range: 273.90 m.
2025-01-08T17:26:28.246Z,1736357188.246 [DAT](INFO): DAT read: Rx Time:17:26:26.8492

2025-01-08T17:26:28.247Z,1736357188.247 [DAT](INFO): Rx dataTimestamp_ set to:1736357188.246291
2025-01-08T17:26:28.248Z,1736357188.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282162
2025-01-08T17:26:28.496Z,1736357188.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530209
2025-01-08T17:26:28.700Z,1736357188.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:28.712Z,1736357188.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:28.716Z,1736357188.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.90 m.
2025-01-08T17:26:28.740Z,1736357188.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.899994 m,
      nav range: 244.312363 m,
      bearing: 269.814160 deg,
      approach rate: -0.679647 m/s,
      LOS rate: 0.004564 deg/s,
      cmd heading: 266.376394 deg,
      new cmd heading: 266.383245 deg.

2025-01-08T17:26:28.741Z,1736357188.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649265 target range: 273.899994 and range: 273.90 m.
2025-01-08T17:26:28.754Z,1736357188.754 [DAT](INFO): DAT read: 17:26:26.8492 LVL= 23152, 32657, 25794, 32755, AGC= 62, IDX= 389, 0.01, 1.428, 0.123, 1.357, 0.598, PHS= 0.919,-0.427, 0.756, RAW= 143.7, -19.1, CAL= 149.3, -26.7, ROT=   0.7,  26.7

2025-01-08T17:26:28.756Z,1736357188.756 [DAT](INFO): got valid direction response:
 17:26:26.8492 LVL= 23152, 32657, 25794, 32755, AGC= 62, IDX= 389, 0.01, 1.428, 0.123, 1.357, 0.598, PHS= 0.919,-0.427, 0.756, RAW= 143.7, -19.1, CAL= 149.3, -26.7, ROT=   0.7,  26.7

2025-01-08T17:26:28.757Z,1736357188.757 [DAT](INFO): DAT read: Bearing   0.7,  26.7 (Local)

2025-01-08T17:26:28.757Z,1736357188.757 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7,  26.7 (Local)

2025-01-08T17:26:28.758Z,1736357188.758 [DAT](INFO): DAT read: Range 10 to 50 : 270.1 m  (Round-trip  360.2 ms) speed  0.6 m/s

2025-01-08T17:26:28.760Z,1736357188.760 [DAT](INFO): DAT read: user:145>

2025-01-08T17:26:28.763Z,1736357188.763 [DAT](INFO): DAT read: Tx time:17:26:27.9348

2025-01-08T17:26:28.764Z,1736357188.764 [DAT](INFO): Ping request sent.
2025-01-08T17:26:28.764Z,1736357188.764 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:26:28.765Z,1736357188.765 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:26:28.766Z,1736357188.766 [DAT](INFO): direction in FSK: [0.893305,0.010914,-0.449319]
2025-01-08T17:26:28.766Z,1736357188.766 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:28.766Z,1736357188.766 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:28.770Z,1736357188.770 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:28.771Z,1736357188.771 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:29.002Z,1736357189.002 [DAT](INFO): DAT read: TxSync time:17:26:27.9340

2025-01-08T17:26:29.068Z,1736357189.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:29.100Z,1736357189.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 270.100006 m,
      deltaT: 3.796281 s,
      deltaX: -3.799988 m,
      approachRate: -1.000976 m/s,
      rangeRepo size: 4

2025-01-08T17:26:29.102Z,1736357189.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 270.100006 m,
      bearing: 270.936771 deg,
      lat: 36.904129 deg,
      lon: -122.119208 deg,
      deltaT: 3.796281 s,
      deltaX: -3.799988 m,
      approachRate: -1.000976 m/s,
      posRepo size: 4

2025-01-08T17:26:29.107Z,1736357189.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-01-08T17:26:29.111Z,1736357189.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.100006 m,
      nav range: 242.130966 m,
      bearing: 270.932909 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004564 deg/s,
      cmd heading: 266.383252 deg,
      new cmd heading: 266.388460 deg.

2025-01-08T17:26:29.113Z,1736357189.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649356 target range: 270.100006 and range: 270.10 m.
2025-01-08T17:26:29.437Z,1736357189.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:29.446Z,1736357189.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-01-08T17:26:29.449Z,1736357189.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.100006 m,
      nav range: 241.877533 m,
      bearing: 270.935911 deg,
      approach rate: -0.722063 m/s,
      LOS rate: 0.008562 deg/s,
      cmd heading: 266.388470 deg,
      new cmd heading: 266.397486 deg.

2025-01-08T17:26:29.450Z,1736357189.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649513 target range: 270.100006 and range: 270.10 m.
2025-01-08T17:26:29.867Z,1736357189.867 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:29.875Z,1736357189.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-01-08T17:26:29.879Z,1736357189.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.100006 m,
      nav range: 241.575256 m,
      bearing: 270.938945 deg,
      approach rate: -0.704856 m/s,
      LOS rate: 0.007084 deg/s,
      cmd heading: 266.397486 deg,
      new cmd heading: 266.406600 deg.

2025-01-08T17:26:29.880Z,1736357189.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649673 target range: 270.100006 and range: 270.10 m.
2025-01-08T17:26:30.283Z,1736357190.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:30.292Z,1736357190.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-01-08T17:26:30.294Z,1736357190.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.100006 m,
      nav range: 241.282074 m,
      bearing: 270.941895 deg,
      approach rate: -0.703975 m/s,
      LOS rate: 0.007093 deg/s,
      cmd heading: 266.406611 deg,
      new cmd heading: 266.415473 deg.

2025-01-08T17:26:30.295Z,1736357190.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649827 target range: 270.100006 and range: 270.10 m.
2025-01-08T17:26:30.739Z,1736357190.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:30.746Z,1736357190.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:30.749Z,1736357190.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-01-08T17:26:30.757Z,1736357190.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.100006 m,
      nav range: 240.945160 m,
      bearing: 270.944923 deg,
      approach rate: -0.736969 m/s,
      LOS rate: 0.006632 deg/s,
      cmd heading: 266.415463 deg,
      new cmd heading: 266.424558 deg.

2025-01-08T17:26:30.758Z,1736357190.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649986 target range: 270.100006 and range: 270.10 m.
2025-01-08T17:26:30.772Z,1736357190.772 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:26:30.772Z,1736357190.772 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:26:30.773Z,1736357190.773 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:26:31.024Z,1736357191.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260484
2025-01-08T17:26:31.066Z,1736357191.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:31.074Z,1736357191.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-01-08T17:26:31.078Z,1736357191.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.100006 m,
      nav range: 240.703079 m,
      bearing: 270.947081 deg,
      approach rate: -0.744197 m/s,
      LOS rate: 0.006640 deg/s,
      cmd heading: 266.424561 deg,
      new cmd heading: 266.431040 deg.

2025-01-08T17:26:31.079Z,1736357191.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650099 target range: 270.100006 and range: 270.10 m.
2025-01-08T17:26:31.277Z,1736357191.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512429
2025-01-08T17:26:31.366Z,1736357191.366 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:26:31.455Z,1736357191.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:31.465Z,1736357191.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-01-08T17:26:31.484Z,1736357191.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.100006 m,
      nav range: 240.414871 m,
      bearing: 270.949690 deg,
      approach rate: -0.736687 m/s,
      LOS rate: 0.006679 deg/s,
      cmd heading: 266.431036 deg,
      new cmd heading: 266.438875 deg.

2025-01-08T17:26:31.485Z,1736357191.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650236 target range: 270.100006 and range: 270.10 m.
2025-01-08T17:26:31.529Z,1736357191.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764894
2025-01-08T17:26:31.780Z,1736357191.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016452
2025-01-08T17:26:31.891Z,1736357191.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:31.901Z,1736357191.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-01-08T17:26:31.904Z,1736357191.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.100006 m,
      nav range: 240.088150 m,
      bearing: 270.951232 deg,
      approach rate: -0.749930 m/s,
      LOS rate: 0.003544 deg/s,
      cmd heading: 266.438877 deg,
      new cmd heading: 266.443509 deg.

2025-01-08T17:26:31.905Z,1736357191.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650317 target range: 270.100006 and range: 270.10 m.
2025-01-08T17:26:32.032Z,1736357192.032 [DAT](INFO): DAT read: Rx Time:17:26:30.6968

2025-01-08T17:26:32.033Z,1736357192.033 [DAT](INFO): Rx dataTimestamp_ set to:1736357192.032543
2025-01-08T17:26:32.033Z,1736357192.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269530
2025-01-08T17:26:32.284Z,1736357192.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520382
2025-01-08T17:26:32.286Z,1736357192.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:32.296Z,1736357192.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.10 m.
2025-01-08T17:26:32.303Z,1736357192.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 270.100006 m,
      nav range: 239.791687 m,
      bearing: 270.952635 deg,
      approach rate: -0.750349 m/s,
      LOS rate: 0.003555 deg/s,
      cmd heading: 266.443521 deg,
      new cmd heading: 266.447735 deg.

2025-01-08T17:26:32.306Z,1736357192.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650390 target range: 270.100006 and range: 270.10 m.
2025-01-08T17:26:32.368Z,1736357192.368 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:26:32.544Z,1736357192.544 [DAT](INFO): DAT read: 17:26:30.6968 LVL= 21440, 28737, 24674, 32147, AGC= 59, IDX= 405, 0.06,-0.071,-1.439,-0.143,-0.973, PHS= 0.990,-0.419, 0.827, RAW= 143.9, -20.3, CAL= 149.4, -27.7, ROT=   0.6,  27.7

2025-01-08T17:26:32.545Z,1736357192.545 [DAT](INFO): got valid direction response:
 17:26:30.6968 LVL= 21440, 28737, 24674, 32147, AGC= 59, IDX= 405, 0.06,-0.071,-1.439,-0.143,-0.973, PHS= 0.990,-0.419, 0.827, RAW= 143.9, -20.3, CAL= 149.4, -27.7, ROT=   0.6,  27.7

2025-01-08T17:26:32.546Z,1736357192.546 [DAT](INFO): DAT read: Bearing   0.6,  27.7 (Local)

2025-01-08T17:26:32.547Z,1736357192.547 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.6,  27.7 (Local)

2025-01-08T17:26:32.558Z,1736357192.558 [DAT](INFO): DAT read: Range 10 to 50 : 268.4 m  (Round-trip  357.9 ms) speed  0.3 m/s

2025-01-08T17:26:32.559Z,1736357192.559 [DAT](INFO): DAT read: user:146>

2025-01-08T17:26:32.572Z,1736357192.572 [DAT](INFO): DAT read: Tx time:17:26:31.7848

2025-01-08T17:26:32.573Z,1736357192.573 [DAT](INFO): Ping request sent.
2025-01-08T17:26:32.573Z,1736357192.573 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:26:32.574Z,1736357192.574 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:26:32.595Z,1736357192.595 [DAT](INFO): direction in FSK: [0.885345,0.009272,-0.464842]
2025-01-08T17:26:32.596Z,1736357192.596 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:32.596Z,1736357192.596 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:32.599Z,1736357192.599 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:32.607Z,1736357192.607 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:32.788Z,1736357192.788 [DAT](INFO): DAT read: TxSync time:17:26:31.7840

2025-01-08T17:26:32.809Z,1736357192.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:32.842Z,1736357192.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 268.399994 m,
      deltaT: 3.787765 s,
      deltaX: -1.700012 m,
      approachRate: -0.448817 m/s,
      rangeRepo size: 4

2025-01-08T17:26:32.846Z,1736357192.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 268.399994 m,
      bearing: 270.880960 deg,
      lat: 36.904126 deg,
      lon: -122.119208 deg,
      deltaT: 3.787765 s,
      deltaX: -1.700012 m,
      approachRate: -0.448817 m/s,
      posRepo size: 4

2025-01-08T17:26:32.860Z,1736357192.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.40 m.
2025-01-08T17:26:32.863Z,1736357192.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.399994 m,
      nav range: 239.397507 m,
      bearing: 270.874668 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003555 deg/s,
      cmd heading: 266.447729 deg,
      new cmd heading: 266.453547 deg.

2025-01-08T17:26:32.868Z,1736357192.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650492 target range: 268.399994 and range: 268.40 m.
2025-01-08T17:26:33.154Z,1736357193.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:33.161Z,1736357193.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:33.163Z,1736357193.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.40 m.
2025-01-08T17:26:33.166Z,1736357193.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.399994 m,
      nav range: 239.141357 m,
      bearing: 270.875689 deg,
      approach rate: -0.796410 m/s,
      LOS rate: 0.003177 deg/s,
      cmd heading: 266.453548 deg,
      new cmd heading: 266.456613 deg.

2025-01-08T17:26:33.167Z,1736357193.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650545 target range: 268.399994 and range: 268.40 m.
2025-01-08T17:26:33.293Z,1736357193.293 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:26:33.293Z,1736357193.293 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:26:33.294Z,1736357193.294 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:26:33.546Z,1736357193.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.973230
2025-01-08T17:26:33.562Z,1736357193.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:33.570Z,1736357193.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.40 m.
2025-01-08T17:26:33.593Z,1736357193.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.399994 m,
      nav range: 238.838043 m,
      bearing: 270.877184 deg,
      approach rate: -0.745638 m/s,
      LOS rate: 0.003680 deg/s,
      cmd heading: 266.456608 deg,
      new cmd heading: 266.461099 deg.

2025-01-08T17:26:33.595Z,1736357193.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650623 target range: 268.399994 and range: 268.40 m.
2025-01-08T17:26:33.796Z,1736357193.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223414
2025-01-08T17:26:33.979Z,1736357193.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:34.008Z,1736357194.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.40 m.
2025-01-08T17:26:34.016Z,1736357194.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.399994 m,
      nav range: 238.528381 m,
      bearing: 270.878473 deg,
      approach rate: -0.707592 m/s,
      LOS rate: 0.002950 deg/s,
      cmd heading: 266.461088 deg,
      new cmd heading: 266.464961 deg.

2025-01-08T17:26:34.017Z,1736357194.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650691 target range: 268.399994 and range: 268.40 m.
2025-01-08T17:26:34.050Z,1736357194.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.477155
2025-01-08T17:26:34.300Z,1736357194.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727335
2025-01-08T17:26:34.366Z,1736357194.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:34.375Z,1736357194.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.40 m.
2025-01-08T17:26:34.379Z,1736357194.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.399994 m,
      nav range: 238.241180 m,
      bearing: 270.879589 deg,
      approach rate: -0.782104 m/s,
      LOS rate: 0.003042 deg/s,
      cmd heading: 266.464968 deg,
      new cmd heading: 266.468320 deg.

2025-01-08T17:26:34.381Z,1736357194.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650750 target range: 268.399994 and range: 268.40 m.
2025-01-08T17:26:34.552Z,1736357194.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979256
2025-01-08T17:26:34.804Z,1736357194.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231297
2025-01-08T17:26:34.812Z,1736357194.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:34.820Z,1736357194.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.40 m.
2025-01-08T17:26:34.823Z,1736357194.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.399994 m,
      nav range: 237.923935 m,
      bearing: 270.880827 deg,
      approach rate: -0.712410 m/s,
      LOS rate: 0.002783 deg/s,
      cmd heading: 266.468328 deg,
      new cmd heading: 266.472046 deg.

2025-01-08T17:26:34.824Z,1736357194.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650815 target range: 268.399994 and range: 268.40 m.
2025-01-08T17:26:35.056Z,1736357195.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483372
2025-01-08T17:26:35.168Z,1736357195.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:35.178Z,1736357195.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:35.199Z,1736357195.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.40 m.
2025-01-08T17:26:35.213Z,1736357195.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.399994 m,
      nav range: 237.669876 m,
      bearing: 270.881769 deg,
      approach rate: -0.672053 m/s,
      LOS rate: 0.002494 deg/s,
      cmd heading: 266.472044 deg,
      new cmd heading: 266.474872 deg.

2025-01-08T17:26:35.214Z,1736357195.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650864 target range: 268.399994 and range: 268.40 m.
2025-01-08T17:26:35.309Z,1736357195.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736168
2025-01-08T17:26:35.561Z,1736357195.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988276
2025-01-08T17:26:35.581Z,1736357195.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:35.589Z,1736357195.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.40 m.
2025-01-08T17:26:35.592Z,1736357195.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.399994 m,
      nav range: 237.375610 m,
      bearing: 270.882901 deg,
      approach rate: -0.752352 m/s,
      LOS rate: 0.002900 deg/s,
      cmd heading: 266.474885 deg,
      new cmd heading: 266.478288 deg.

2025-01-08T17:26:35.594Z,1736357195.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650924 target range: 268.399994 and range: 268.40 m.
2025-01-08T17:26:35.813Z,1736357195.813 [DAT](INFO): DAT read: Rx Time:17:26:34.5455

2025-01-08T17:26:35.814Z,1736357195.814 [DAT](INFO): Rx dataTimestamp_ set to:1736357195.813522
2025-01-08T17:26:35.814Z,1736357195.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241436
2025-01-08T17:26:36.040Z,1736357196.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:36.050Z,1736357196.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.40 m.
2025-01-08T17:26:36.053Z,1736357196.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.399994 m,
      nav range: 237.053925 m,
      bearing: 270.883491 deg,
      approach rate: -0.698723 m/s,
      LOS rate: 0.001282 deg/s,
      cmd heading: 266.478301 deg,
      new cmd heading: 266.480072 deg.

2025-01-08T17:26:36.054Z,1736357196.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650955 target range: 268.399994 and range: 268.40 m.
2025-01-08T17:26:36.065Z,1736357196.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491617
2025-01-08T17:26:36.340Z,1736357196.340 [DAT](INFO): DAT read: 17:26:34.5456 LVL= 27888, 32753, 29122, 32755, AGC= 60, IDX= 430, 0.01, 2.999, 1.777, 2.927, 2.200, PHS= 0.887,-0.376, 0.724, RAW= 143.2, -20.2, CAL= 148.7, -27.6, ROT=   1.3,  27.6

2025-01-08T17:26:36.341Z,1736357196.341 [DAT](INFO): got valid direction response:
 17:26:34.5456 LVL= 27888, 32753, 29122, 32755, AGC= 60, IDX= 430, 0.01, 2.999, 1.777, 2.927, 2.200, PHS= 0.887,-0.376, 0.724, RAW= 143.2, -20.2, CAL= 148.7, -27.6, ROT=   1.3,  27.6

2025-01-08T17:26:36.342Z,1736357196.342 [DAT](INFO): DAT read: Bearing   1.3,  27.6 (Local)

2025-01-08T17:26:36.342Z,1736357196.342 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.3,  27.6 (Local)

2025-01-08T17:26:36.345Z,1736357196.345 [DAT](INFO): DAT read: Range 10 to 50 : 267.3 m  (Round-trip  356.5 ms) speed  0.2 m/s

2025-01-08T17:26:36.346Z,1736357196.346 [DAT](INFO): DAT read: user:147>

2025-01-08T17:26:36.347Z,1736357196.347 [DAT](INFO): DAT read: Tx time:17:26:35.6349

2025-01-08T17:26:36.359Z,1736357196.359 [DAT](INFO): Ping request sent.
2025-01-08T17:26:36.360Z,1736357196.360 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:26:36.360Z,1736357196.360 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:26:36.363Z,1736357196.363 [DAT](INFO): direction in FSK: [0.885975,0.020106,-0.463296]
2025-01-08T17:26:36.372Z,1736357196.372 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:36.372Z,1736357196.372 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:36.388Z,1736357196.388 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:36.388Z,1736357196.388 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:36.433Z,1736357196.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:36.496Z,1736357196.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 267.299988 m,
      deltaT: 3.780745 s,
      deltaX: -1.100006 m,
      approachRate: -0.290950 m/s,
      rangeRepo size: 4

2025-01-08T17:26:36.498Z,1736357196.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 267.299988 m,
      bearing: 271.188836 deg,
      lat: 36.904126 deg,
      lon: -122.119208 deg,
      deltaT: 3.780745 s,
      deltaX: -1.100006 m,
      approachRate: -0.290950 m/s,
      posRepo size: 4

2025-01-08T17:26:36.498Z,1736357196.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.30 m.
2025-01-08T17:26:36.505Z,1736357196.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.299988 m,
      nav range: 236.778854 m,
      bearing: 270.884058 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001282 deg/s,
      cmd heading: 266.480076 deg,
      new cmd heading: 266.481773 deg.

2025-01-08T17:26:36.506Z,1736357196.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650984 target range: 267.299988 and range: 267.30 m.
2025-01-08T17:26:36.569Z,1736357196.569 [DAT](INFO): DAT read: TxSync time:17:26:35.6341

2025-01-08T17:26:36.880Z,1736357196.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:36.896Z,1736357196.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.30 m.
2025-01-08T17:26:36.903Z,1736357196.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.299988 m,
      nav range: 236.480118 m,
      bearing: 270.884436 deg,
      approach rate: -0.736225 m/s,
      LOS rate: 0.000934 deg/s,
      cmd heading: 266.481770 deg,
      new cmd heading: 266.482907 deg.

2025-01-08T17:26:36.904Z,1736357196.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651004 target range: 267.299988 and range: 267.30 m.
2025-01-08T17:26:37.213Z,1736357197.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:37.220Z,1736357197.220 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:37.222Z,1736357197.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.30 m.
2025-01-08T17:26:37.224Z,1736357197.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.299988 m,
      nav range: 236.257294 m,
      bearing: 270.884946 deg,
      approach rate: -0.685210 m/s,
      LOS rate: 0.001568 deg/s,
      cmd heading: 266.482918 deg,
      new cmd heading: 266.484447 deg.

2025-01-08T17:26:37.225Z,1736357197.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651031 target range: 267.299988 and range: 267.30 m.
2025-01-08T17:26:37.325Z,1736357197.325 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:26:37.325Z,1736357197.325 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:26:37.325Z,1736357197.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:26:37.577Z,1736357197.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.217146
2025-01-08T17:26:37.616Z,1736357197.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:37.625Z,1736357197.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.30 m.
2025-01-08T17:26:37.629Z,1736357197.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.299988 m,
      nav range: 235.987518 m,
      bearing: 270.885660 deg,
      approach rate: -0.668572 m/s,
      LOS rate: 0.001772 deg/s,
      cmd heading: 266.484448 deg,
      new cmd heading: 266.486593 deg.

2025-01-08T17:26:37.630Z,1736357197.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651069 target range: 267.299988 and range: 267.30 m.
2025-01-08T17:26:37.829Z,1736357197.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.469093
2025-01-08T17:26:38.044Z,1736357198.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:38.053Z,1736357198.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.30 m.
2025-01-08T17:26:38.056Z,1736357198.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.299988 m,
      nav range: 235.720673 m,
      bearing: 270.887578 deg,
      approach rate: -0.624050 m/s,
      LOS rate: 0.004492 deg/s,
      cmd heading: 266.486606 deg,
      new cmd heading: 266.492369 deg.

2025-01-08T17:26:38.057Z,1736357198.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651169 target range: 267.299988 and range: 267.30 m.
2025-01-08T17:26:38.097Z,1736357198.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737777
2025-01-08T17:26:38.348Z,1736357198.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988789
2025-01-08T17:26:38.426Z,1736357198.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:38.454Z,1736357198.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.30 m.
2025-01-08T17:26:38.461Z,1736357198.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.299988 m,
      nav range: 235.482819 m,
      bearing: 270.889138 deg,
      approach rate: -0.593247 m/s,
      LOS rate: 0.003893 deg/s,
      cmd heading: 266.492371 deg,
      new cmd heading: 266.497053 deg.

2025-01-08T17:26:38.462Z,1736357198.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651251 target range: 267.299988 and range: 267.30 m.
2025-01-08T17:26:38.601Z,1736357198.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241500
2025-01-08T17:26:38.839Z,1736357198.839 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3268,V
2025-01-08T17:26:38.849Z,1736357198.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:26:38.849Z,1736357198.849 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:38.852Z,1736357198.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493002
2025-01-08T17:26:38.860Z,1736357198.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.30 m.
2025-01-08T17:26:38.863Z,1736357198.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.299988 m,
      nav range: 235.219513 m,
      bearing: 270.890782 deg,
      approach rate: -0.649272 m/s,
      LOS rate: 0.004059 deg/s,
      cmd heading: 266.497043 deg,
      new cmd heading: 266.501980 deg.

2025-01-08T17:26:38.864Z,1736357198.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651337 target range: 267.299988 and range: 267.30 m.
2025-01-08T17:26:39.106Z,1736357199.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746356
2025-01-08T17:26:39.233Z,1736357199.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:26:39.233Z,1736357199.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:39.263Z,1736357199.263 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:39.265Z,1736357199.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.30 m.
2025-01-08T17:26:39.268Z,1736357199.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.299988 m,
      nav range: 234.980530 m,
      bearing: 270.892157 deg,
      approach rate: -0.588775 m/s,
      LOS rate: 0.003391 deg/s,
      cmd heading: 266.501988 deg,
      new cmd heading: 266.506117 deg.

2025-01-08T17:26:39.269Z,1736357199.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651409 target range: 267.299988 and range: 267.30 m.
2025-01-08T17:26:39.356Z,1736357199.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997009
2025-01-08T17:26:39.608Z,1736357199.608 [DAT](INFO): DAT read: Rx Time:17:26:38.3916

2025-01-08T17:26:39.609Z,1736357199.609 [DAT](INFO): Rx dataTimestamp_ set to:1736357199.608506
2025-01-08T17:26:39.610Z,1736357199.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250147
2025-01-08T17:26:39.636Z,1736357199.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-08T17:26:39.636Z,1736357199.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:39.646Z,1736357199.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.30 m.
2025-01-08T17:26:39.649Z,1736357199.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.299988 m,
      nav range: 234.728989 m,
      bearing: 270.893505 deg,
      approach rate: -0.660605 m/s,
      LOS rate: 0.003544 deg/s,
      cmd heading: 266.506113 deg,
      new cmd heading: 266.510162 deg.

2025-01-08T17:26:39.650Z,1736357199.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651480 target range: 267.299988 and range: 267.30 m.
2025-01-08T17:26:39.862Z,1736357199.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502217
2025-01-08T17:26:40.065Z,1736357200.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:40.074Z,1736357200.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.30 m.
2025-01-08T17:26:40.082Z,1736357200.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 267.299988 m,
      nav range: 234.487473 m,
      bearing: 270.896737 deg,
      approach rate: -0.563968 m/s,
      LOS rate: 0.007555 deg/s,
      cmd heading: 266.510157 deg,
      new cmd heading: 266.519863 deg.

2025-01-08T17:26:40.085Z,1736357200.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651649 target range: 267.299988 and range: 267.30 m.
2025-01-08T17:26:40.115Z,1736357200.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754946
2025-01-08T17:26:40.375Z,1736357200.375 [DAT](INFO): DAT read: 17:26:38.3916 LVL= 22912, 27249, 24978, 32755, AGC= 64, IDX= 405, 0.02, 2.568, 1.091, 2.470, 1.694, PHS= 0.962,-0.556, 0.773, RAW= 143.5, -16.2, CAL= 149.7, -24.4, ROT=   0.3,  24.4

2025-01-08T17:26:40.376Z,1736357200.376 [DAT](INFO): got valid direction response:
 17:26:38.3916 LVL= 22912, 27249, 24978, 32755, AGC= 64, IDX= 405, 0.02, 2.568, 1.091, 2.470, 1.694, PHS= 0.962,-0.556, 0.773, RAW= 143.5, -16.2, CAL= 149.7, -24.4, ROT=   0.3,  24.4

2025-01-08T17:26:40.377Z,1736357200.377 [DAT](INFO): DAT read: Bearing   0.3,  24.4 (Local)

2025-01-08T17:26:40.377Z,1736357200.377 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.3,  24.4 (Local)

2025-01-08T17:26:40.405Z,1736357200.405 [DAT](INFO): DAT read: Range 10 to 50 : 264.3 m  (Round-trip  352.5 ms) speed  0.8 m/s

2025-01-08T17:26:40.405Z,1736357200.405 [DAT](INFO): DAT read: user:148>

2025-01-08T17:26:40.406Z,1736357200.406 [DAT](INFO): DAT read: Tx time:17:26:39.4849

2025-01-08T17:26:40.406Z,1736357200.406 [DAT](INFO): Ping request sent.
2025-01-08T17:26:40.407Z,1736357200.407 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:26:40.420Z,1736357200.420 [DAT](INFO): DAT read: TxSync time:17:26:39.4841

2025-01-08T17:26:40.420Z,1736357200.420 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:26:40.421Z,1736357200.421 [DAT](INFO): direction in FSK: [0.910671,0.004768,-0.413104]
2025-01-08T17:26:40.421Z,1736357200.421 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:40.422Z,1736357200.422 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:40.444Z,1736357200.444 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:40.444Z,1736357200.444 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:40.509Z,1736357200.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:40.540Z,1736357200.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 264.299988 m,
      deltaT: 4.050930 s,
      deltaX: -3.000000 m,
      approachRate: -0.740571 m/s,
      rangeRepo size: 4

2025-01-08T17:26:40.549Z,1736357200.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 264.299988 m,
      bearing: 270.220220 deg,
      lat: 36.904126 deg,
      lon: -122.119209 deg,
      deltaT: 4.050930 s,
      deltaX: -3.000000 m,
      approachRate: -0.740571 m/s,
      posRepo size: 4

2025-01-08T17:26:40.550Z,1736357200.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:40.557Z,1736357200.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 234.368164 m,
      bearing: 270.899465 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007555 deg/s,
      cmd heading: 266.519855 deg,
      new cmd heading: 266.530293 deg.

2025-01-08T17:26:40.558Z,1736357200.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651831 target range: 264.299988 and range: 264.30 m.
2025-01-08T17:26:40.950Z,1736357200.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:40.974Z,1736357200.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:40.981Z,1736357200.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 234.119843 m,
      bearing: 270.902737 deg,
      approach rate: -0.573728 m/s,
      LOS rate: 0.007568 deg/s,
      cmd heading: 266.530292 deg,
      new cmd heading: 266.540119 deg.

2025-01-08T17:26:40.982Z,1736357200.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652003 target range: 264.299988 and range: 264.30 m.
2025-01-08T17:26:41.300Z,1736357201.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:41.306Z,1736357201.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:41.309Z,1736357201.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:41.312Z,1736357201.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 233.923126 m,
      bearing: 270.905301 deg,
      approach rate: -0.576391 m/s,
      LOS rate: 0.007518 deg/s,
      cmd heading: 266.540127 deg,
      new cmd heading: 266.547825 deg.

2025-01-08T17:26:41.313Z,1736357201.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652137 target range: 264.299988 and range: 264.30 m.
2025-01-08T17:26:41.378Z,1736357201.378 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:26:41.378Z,1736357201.378 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:26:41.379Z,1736357201.379 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:26:41.629Z,1736357201.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.222054
2025-01-08T17:26:41.715Z,1736357201.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:41.729Z,1736357201.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:41.732Z,1736357201.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 233.689758 m,
      bearing: 270.908263 deg,
      approach rate: -0.554728 m/s,
      LOS rate: 0.007047 deg/s,
      cmd heading: 266.547832 deg,
      new cmd heading: 266.556726 deg.

2025-01-08T17:26:41.733Z,1736357201.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652293 target range: 264.299988 and range: 264.30 m.
2025-01-08T17:26:41.880Z,1736357201.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.473831
2025-01-08T17:26:42.122Z,1736357202.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:42.132Z,1736357202.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725582
2025-01-08T17:26:42.156Z,1736357202.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:42.158Z,1736357202.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 233.459091 m,
      bearing: 270.911301 deg,
      approach rate: -0.546581 m/s,
      LOS rate: 0.007206 deg/s,
      cmd heading: 266.556738 deg,
      new cmd heading: 266.565862 deg.

2025-01-08T17:26:42.164Z,1736357202.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652452 target range: 264.299988 and range: 264.30 m.
2025-01-08T17:26:42.385Z,1736357202.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977881
2025-01-08T17:26:42.506Z,1736357202.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:42.519Z,1736357202.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:42.545Z,1736357202.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 233.241837 m,
      bearing: 270.914028 deg,
      approach rate: -0.591916 m/s,
      LOS rate: 0.007436 deg/s,
      cmd heading: 266.565864 deg,
      new cmd heading: 266.574052 deg.

2025-01-08T17:26:42.546Z,1736357202.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652595 target range: 264.299988 and range: 264.30 m.
2025-01-08T17:26:42.637Z,1736357202.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229976
2025-01-08T17:26:42.888Z,1736357202.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481535
2025-01-08T17:26:42.945Z,1736357202.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:42.954Z,1736357202.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:42.957Z,1736357202.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 232.974594 m,
      bearing: 270.916878 deg,
      approach rate: -0.614096 m/s,
      LOS rate: 0.006557 deg/s,
      cmd heading: 266.574060 deg,
      new cmd heading: 266.582621 deg.

2025-01-08T17:26:42.958Z,1736357202.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652744 target range: 264.299988 and range: 264.30 m.
2025-01-08T17:26:43.140Z,1736357203.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733566
2025-01-08T17:26:43.317Z,1736357203.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:43.324Z,1736357203.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:43.327Z,1736357203.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:43.330Z,1736357203.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 232.748138 m,
      bearing: 270.919218 deg,
      approach rate: -0.607755 m/s,
      LOS rate: 0.006287 deg/s,
      cmd heading: 266.582611 deg,
      new cmd heading: 266.589639 deg.

2025-01-08T17:26:43.331Z,1736357203.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652867 target range: 264.299988 and range: 264.30 m.
2025-01-08T17:26:43.393Z,1736357203.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985814
2025-01-08T17:26:43.645Z,1736357203.645 [DAT](INFO): DAT read: Rx Time:17:26:42.2365

2025-01-08T17:26:43.645Z,1736357203.645 [DAT](INFO): Rx dataTimestamp_ set to:1736357203.645024
2025-01-08T17:26:43.646Z,1736357203.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239233
2025-01-08T17:26:43.748Z,1736357203.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:43.772Z,1736357203.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:43.775Z,1736357203.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 232.486328 m,
      bearing: 270.921930 deg,
      approach rate: -0.587327 m/s,
      LOS rate: 0.006090 deg/s,
      cmd heading: 266.589633 deg,
      new cmd heading: 266.597776 deg.

2025-01-08T17:26:43.780Z,1736357203.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653009 target range: 264.299988 and range: 264.30 m.
2025-01-08T17:26:43.897Z,1736357203.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490119
2025-01-08T17:26:44.149Z,1736357204.149 [DAT](INFO): DAT read: Range 10 to 50 : 260.5 m  (Round-trip  347.4 ms) speed  0.4 m/s

2025-01-08T17:26:44.150Z,1736357204.150 [DAT](INFO): DAT read: user:149>

2025-01-08T17:26:44.151Z,1736357204.151 [DAT](INFO): DAT read: Tx time:17:26:43.3349

2025-01-08T17:26:44.151Z,1736357204.151 [DAT](INFO): Ping request sent.
2025-01-08T17:26:44.151Z,1736357204.151 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:26:44.152Z,1736357204.152 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:26:44.152Z,1736357204.152 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:44.152Z,1736357204.152 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:44.271Z,1736357204.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:44.289Z,1736357204.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 260.500000 m,
      deltaT: 3.780178 s,
      deltaX: -3.799988 m,
      approachRate: -1.005240 m/s,
      rangeRepo size: 4

2025-01-08T17:26:44.290Z,1736357204.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:44.297Z,1736357204.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 232.136887 m,
      bearing: 270.924777 deg,
      approach rate: -0.676975 m/s,
      LOS rate: 0.005523 deg/s,
      cmd heading: 266.597774 deg,
      new cmd heading: 266.606327 deg.

2025-01-08T17:26:44.298Z,1736357204.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653158 target range: 264.299988 and range: 260.50 m.
2025-01-08T17:26:44.401Z,1736357204.401 [DAT](INFO): DAT read: TxSync time:17:26:43.3341

2025-01-08T17:26:44.588Z,1736357204.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:44.626Z,1736357204.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:44.633Z,1736357204.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 231.921280 m,
      bearing: 270.926388 deg,
      approach rate: -0.639054 m/s,
      LOS rate: 0.004780 deg/s,
      cmd heading: 266.606326 deg,
      new cmd heading: 266.611164 deg.

2025-01-08T17:26:44.634Z,1736357204.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653243 target range: 264.299988 and range: 260.50 m.
2025-01-08T17:26:45.012Z,1736357205.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:45.023Z,1736357205.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:45.042Z,1736357205.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 231.614853 m,
      bearing: 270.927355 deg,
      approach rate: -0.771701 m/s,
      LOS rate: 0.002438 deg/s,
      cmd heading: 266.611161 deg,
      new cmd heading: 266.614066 deg.

2025-01-08T17:26:45.047Z,1736357205.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653293 target range: 264.299988 and range: 260.50 m.
2025-01-08T17:26:45.403Z,1736357205.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:45.412Z,1736357205.412 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:45.414Z,1736357205.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:45.417Z,1736357205.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 231.333038 m,
      bearing: 270.928641 deg,
      approach rate: -0.720425 m/s,
      LOS rate: 0.003292 deg/s,
      cmd heading: 266.614057 deg,
      new cmd heading: 266.617921 deg.

2025-01-08T17:26:45.418Z,1736357205.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653360 target range: 264.299988 and range: 260.50 m.
2025-01-08T17:26:45.661Z,1736357205.661 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:26:45.661Z,1736357205.661 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:26:45.662Z,1736357205.662 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:26:45.808Z,1736357205.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:45.817Z,1736357205.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:45.820Z,1736357205.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 231.040939 m,
      bearing: 270.929930 deg,
      approach rate: -0.724964 m/s,
      LOS rate: 0.003203 deg/s,
      cmd heading: 266.617910 deg,
      new cmd heading: 266.621782 deg.

2025-01-08T17:26:45.821Z,1736357205.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653428 target range: 264.299988 and range: 260.50 m.
2025-01-08T17:26:45.915Z,1736357205.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763728
2025-01-08T17:26:46.164Z,1736357206.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013084
2025-01-08T17:26:46.230Z,1736357206.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:46.240Z,1736357206.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:46.260Z,1736357206.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 230.709824 m,
      bearing: 270.930181 deg,
      approach rate: -0.782020 m/s,
      LOS rate: 0.000593 deg/s,
      cmd heading: 266.621789 deg,
      new cmd heading: 266.622542 deg.

2025-01-08T17:26:46.261Z,1736357206.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653441 target range: 264.299988 and range: 260.50 m.
2025-01-08T17:26:46.416Z,1736357206.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265161
2025-01-08T17:26:46.612Z,1736357206.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:46.621Z,1736357206.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:46.624Z,1736357206.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 230.410706 m,
      bearing: 270.930540 deg,
      approach rate: -0.785769 m/s,
      LOS rate: 0.000944 deg/s,
      cmd heading: 266.622554 deg,
      new cmd heading: 266.623632 deg.

2025-01-08T17:26:46.625Z,1736357206.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653460 target range: 264.299988 and range: 260.50 m.
2025-01-08T17:26:46.668Z,1736357206.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517134
2025-01-08T17:26:46.920Z,1736357206.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769252
2025-01-08T17:26:47.049Z,1736357207.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:47.059Z,1736357207.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:47.063Z,1736357207.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 230.066559 m,
      bearing: 270.930621 deg,
      approach rate: -0.785816 m/s,
      LOS rate: 0.000187 deg/s,
      cmd heading: 266.623620 deg,
      new cmd heading: 266.623866 deg.

2025-01-08T17:26:47.064Z,1736357207.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653464 target range: 264.299988 and range: 260.50 m.
2025-01-08T17:26:47.173Z,1736357207.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021443
2025-01-08T17:26:47.424Z,1736357207.424 [DAT](INFO): DAT read: Rx Time:17:26:46.0367

2025-01-08T17:26:47.425Z,1736357207.425 [DAT](INFO): Rx dataTimestamp_ set to:1736357207.424573
2025-01-08T17:26:47.425Z,1736357207.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274276
2025-01-08T17:26:47.426Z,1736357207.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:47.435Z,1736357207.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:47.437Z,1736357207.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:47.440Z,1736357207.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 229.745453 m,
      bearing: 270.930884 deg,
      approach rate: -0.849067 m/s,
      LOS rate: 0.000695 deg/s,
      cmd heading: 266.623865 deg,
      new cmd heading: 266.624654 deg.

2025-01-08T17:26:47.441Z,1736357207.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653478 target range: 264.299988 and range: 260.50 m.
2025-01-08T17:26:47.678Z,1736357207.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526585
2025-01-08T17:26:47.857Z,1736357207.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:47.870Z,1736357207.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:47.952Z,1736357207.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 229.390213 m,
      bearing: 270.931341 deg,
      approach rate: -0.820958 m/s,
      LOS rate: 0.001057 deg/s,
      cmd heading: 266.624658 deg,
      new cmd heading: 266.626030 deg.

2025-01-08T17:26:47.953Z,1736357207.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653502 target range: 264.299988 and range: 260.50 m.
2025-01-08T17:26:47.956Z,1736357207.956 [DAT](INFO): DAT read: 17:26:46.0367 LVL= 24896, 32497, 26722, 32595, AGC= 63, IDX= 435, 0.09, 1.494,-0.072, 1.220, 0.904, PHS= 0.678,-0.929, 0.313, RAW= 137.5,  -0.9, CAL= 142.5, -10.0, ROT=   7.5,  10.0

2025-01-08T17:26:47.957Z,1736357207.957 [DAT](INFO): got valid direction response:
 17:26:46.0367 LVL= 24896, 32497, 26722, 32595, AGC= 63, IDX= 435, 0.09, 1.494,-0.072, 1.220, 0.904, PHS= 0.678,-0.929, 0.313, RAW= 137.5,  -0.9, CAL= 142.5, -10.0, ROT=   7.5,  10.0

2025-01-08T17:26:47.958Z,1736357207.958 [DAT](INFO): DAT read: Bearing   7.5,  10.0 (Local)

2025-01-08T17:26:47.959Z,1736357207.959 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.5,  10.0 (Local)

2025-01-08T17:26:47.969Z,1736357207.969 [DAT](INFO): DAT read: Range 10 to 50 : 223.1 m  (Round-trip  297.5 ms) speed  0.3 m/s

2025-01-08T17:26:47.969Z,1736357207.969 [DAT](INFO): DAT read: user:150>

2025-01-08T17:26:47.970Z,1736357207.970 [DAT](INFO): DAT read: Tx time:17:26:47.1350

2025-01-08T17:26:47.971Z,1736357207.971 [DAT](INFO): Ping request sent.
2025-01-08T17:26:47.971Z,1736357207.971 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:26:47.980Z,1736357207.980 [DAT](INFO): DAT read: TxSync time:17:26:47.1342

2025-01-08T17:26:47.981Z,1736357207.981 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:26:47.982Z,1736357207.982 [DAT](INFO): direction in FSK: [0.976383,0.128543,-0.173648]
2025-01-08T17:26:47.982Z,1736357207.982 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:47.982Z,1736357207.982 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:48.012Z,1736357208.012 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:48.012Z,1736357208.012 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:48.412Z,1736357208.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:48.444Z,1736357208.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 223.100006 m,
 deltaT: 3.782160 s,
 deltaX: -37.399994 m,
 approachRate: -9.888528 m/s,
 rangeRepo size: 4
2025-01-08T17:26:48.445Z,1736357208.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:48.451Z,1736357208.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 228.935516 m,
      bearing: 270.931864 deg,
      approach rate: -0.817964 m/s,
      LOS rate: 0.000944 deg/s,
      cmd heading: 266.626024 deg,
      new cmd heading: 266.627598 deg.

2025-01-08T17:26:48.452Z,1736357208.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653530 target range: 264.299988 and range: 260.50 m.
2025-01-08T17:26:48.837Z,1736357208.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:48.867Z,1736357208.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:48.892Z,1736357208.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 228.588287 m,
      bearing: 270.932694 deg,
      approach rate: -0.787176 m/s,
      LOS rate: 0.001883 deg/s,
      cmd heading: 266.627608 deg,
      new cmd heading: 266.630100 deg.

2025-01-08T17:26:48.901Z,1736357208.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653573 target range: 264.299988 and range: 260.50 m.
2025-01-08T17:26:49.278Z,1736357209.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:49.287Z,1736357209.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:49.290Z,1736357209.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 228.239731 m,
      bearing: 270.932724 deg,
      approach rate: -0.829168 m/s,
      LOS rate: 0.000074 deg/s,
      cmd heading: 266.630095 deg,
      new cmd heading: 266.630187 deg.

2025-01-08T17:26:49.291Z,1736357209.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653574 target range: 264.299988 and range: 260.50 m.
2025-01-08T17:26:49.649Z,1736357209.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:49.660Z,1736357209.660 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:49.663Z,1736357209.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:49.666Z,1736357209.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 227.947205 m,
      bearing: 270.933152 deg,
      approach rate: -0.778126 m/s,
      LOS rate: 0.001140 deg/s,
      cmd heading: 266.630177 deg,
      new cmd heading: 266.631462 deg.

2025-01-08T17:26:49.667Z,1736357209.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653597 target range: 264.299988 and range: 260.50 m.
2025-01-08T17:26:49.694Z,1736357209.694 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:26:49.694Z,1736357209.694 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:26:49.694Z,1736357209.694 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:26:49.948Z,1736357209.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977035
2025-01-08T17:26:50.081Z,1736357210.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:50.089Z,1736357210.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:50.093Z,1736357210.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 227.628387 m,
      bearing: 270.934288 deg,
      approach rate: -0.747674 m/s,
      LOS rate: 0.002667 deg/s,
      cmd heading: 266.631461 deg,
      new cmd heading: 266.634873 deg.

2025-01-08T17:26:50.094Z,1736357210.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653656 target range: 264.299988 and range: 260.50 m.
2025-01-08T17:26:50.197Z,1736357210.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226603
2025-01-08T17:26:50.448Z,1736357210.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477667
2025-01-08T17:26:50.465Z,1736357210.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:50.474Z,1736357210.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:50.478Z,1736357210.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 227.344498 m,
      bearing: 270.935298 deg,
      approach rate: -0.739100 m/s,
      LOS rate: 0.002633 deg/s,
      cmd heading: 266.634876 deg,
      new cmd heading: 266.637909 deg.

2025-01-08T17:26:50.479Z,1736357210.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653709 target range: 264.299988 and range: 260.50 m.
2025-01-08T17:26:50.701Z,1736357210.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730248
2025-01-08T17:26:50.860Z,1736357210.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:50.869Z,1736357210.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:50.873Z,1736357210.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 227.052505 m,
      bearing: 270.936296 deg,
      approach rate: -0.738820 m/s,
      LOS rate: 0.002528 deg/s,
      cmd heading: 266.637908 deg,
      new cmd heading: 266.640905 deg.

2025-01-08T17:26:50.874Z,1736357210.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653762 target range: 264.299988 and range: 260.50 m.
2025-01-08T17:26:50.956Z,1736357210.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984304
2025-01-08T17:26:51.205Z,1736357211.205 [DAT](INFO): DAT read: Rx Time:17:26:49.8833

2025-01-08T17:26:51.206Z,1736357211.206 [DAT](INFO): Rx dataTimestamp_ set to:1736357211.205163
2025-01-08T17:26:51.206Z,1736357211.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235702
2025-01-08T17:26:51.295Z,1736357211.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:51.309Z,1736357211.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:51.332Z,1736357211.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 226.759003 m,
      bearing: 270.938161 deg,
      approach rate: -0.667038 m/s,
      LOS rate: 0.004246 deg/s,
      cmd heading: 266.640914 deg,
      new cmd heading: 266.646518 deg.

2025-01-08T17:26:51.333Z,1736357211.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653860 target range: 264.299988 and range: 260.50 m.
2025-01-08T17:26:51.456Z,1736357211.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485527
2025-01-08T17:26:51.666Z,1736357211.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:51.674Z,1736357211.674 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:51.677Z,1736357211.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.30 m.
2025-01-08T17:26:51.680Z,1736357211.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.299988 m,
      nav range: 226.508865 m,
      bearing: 270.939622 deg,
      approach rate: -0.679686 m/s,
      LOS rate: 0.003972 deg/s,
      cmd heading: 266.646514 deg,
      new cmd heading: 266.650899 deg.

2025-01-08T17:26:51.681Z,1736357211.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653936 target range: 264.299988 and range: 260.50 m.
2025-01-08T17:26:51.717Z,1736357211.717 [DAT](INFO): DAT read: 17:26:49.8833 LVL= 21200, 28993, 22002, 28787, AGC= 61, IDX= 396, 0.01,-0.259,-1.454,-0.361,-1.074, PHS= 0.904,-0.332, 0.711, RAW= 141.6, -21.5, CAL= 146.9, -28.7, ROT=   3.1,  28.7

2025-01-08T17:26:51.720Z,1736357211.720 [DAT](INFO): got valid direction response:
 17:26:49.8833 LVL= 21200, 28993, 22002, 28787, AGC= 61, IDX= 396, 0.01,-0.259,-1.454,-0.361,-1.074, PHS= 0.904,-0.332, 0.711, RAW= 141.6, -21.5, CAL= 146.9, -28.7, ROT=   3.1,  28.7

2025-01-08T17:26:51.722Z,1736357211.722 [DAT](INFO): DAT read: Bearing   3.1,  28.7 (Local)

2025-01-08T17:26:51.722Z,1736357211.722 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.1,  28.7 (Local)

2025-01-08T17:26:51.729Z,1736357211.729 [DAT](INFO): DAT read: Range 10 to 50 : 258.1 m  (Round-trip  344.2 ms) speed  0.8 m/s

2025-01-08T17:26:51.735Z,1736357211.735 [DAT](INFO): DAT read: user:151>

2025-01-08T17:26:51.736Z,1736357211.736 [DAT](INFO): DAT read: Tx time:17:26:50.9850

2025-01-08T17:26:51.736Z,1736357211.736 [DAT](INFO): Ping request sent.
2025-01-08T17:26:51.736Z,1736357211.736 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:26:51.737Z,1736357211.737 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:26:51.738Z,1736357211.738 [DAT](INFO): direction in FSK: [0.875863,0.047435,-0.480224]
2025-01-08T17:26:51.738Z,1736357211.738 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:51.738Z,1736357211.738 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:51.754Z,1736357211.754 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:51.754Z,1736357211.754 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:51.964Z,1736357211.964 [DAT](INFO): DAT read: TxSync time:17:26:50.9842

2025-01-08T17:26:52.129Z,1736357212.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:52.145Z,1736357212.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 258.100006 m,
      deltaT: 7.560619 s,
      deltaX: -2.399994 m,
      approachRate: -0.317434 m/s,
      rangeRepo size: 4

2025-01-08T17:26:52.147Z,1736357212.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 258.100006 m,
      bearing: 273.457567 deg,
      lat: 36.904137 deg,
      lon: -122.119209 deg,
      deltaT: 11.340797 s,
      deltaX: -6.199982 m,
      approachRate: -0.546697 m/s,
      posRepo size: 4

2025-01-08T17:26:52.149Z,1736357212.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-01-08T17:26:52.151Z,1736357212.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 226.255768 m,
      bearing: 271.263759 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003972 deg/s,
      cmd heading: 266.650886 deg,
      new cmd heading: 266.656438 deg.

2025-01-08T17:26:52.152Z,1736357212.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654033 target range: 258.100006 and range: 258.10 m.
2025-01-08T17:26:52.480Z,1736357212.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:52.495Z,1736357212.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-01-08T17:26:52.514Z,1736357212.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 226.046432 m,
      bearing: 271.266808 deg,
      approach rate: -0.594684 m/s,
      LOS rate: 0.008668 deg/s,
      cmd heading: 266.656432 deg,
      new cmd heading: 266.665585 deg.

2025-01-08T17:26:52.515Z,1736357212.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654192 target range: 258.100006 and range: 258.10 m.
2025-01-08T17:26:52.900Z,1736357212.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:52.908Z,1736357212.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-01-08T17:26:52.912Z,1736357212.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 225.794952 m,
      bearing: 271.270435 deg,
      approach rate: -0.608570 m/s,
      LOS rate: 0.008787 deg/s,
      cmd heading: 266.665584 deg,
      new cmd heading: 266.676478 deg.

2025-01-08T17:26:52.913Z,1736357212.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654383 target range: 258.100006 and range: 258.10 m.
2025-01-08T17:26:53.306Z,1736357213.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:53.331Z,1736357213.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-01-08T17:26:53.334Z,1736357213.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 225.578186 m,
      bearing: 271.273506 deg,
      approach rate: -0.532510 m/s,
      LOS rate: 0.007552 deg/s,
      cmd heading: 266.676485 deg,
      new cmd heading: 266.685708 deg.

2025-01-08T17:26:53.339Z,1736357213.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654544 target range: 258.100006 and range: 258.10 m.
2025-01-08T17:26:53.750Z,1736357213.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:53.774Z,1736357213.774 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:53.793Z,1736357213.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-01-08T17:26:53.800Z,1736357213.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 225.340790 m,
      bearing: 271.276300 deg,
      approach rate: -0.497452 m/s,
      LOS rate: 0.005862 deg/s,
      cmd heading: 266.685720 deg,
      new cmd heading: 266.694112 deg.

2025-01-08T17:26:53.801Z,1736357213.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654690 target range: 258.100006 and range: 258.10 m.
2025-01-08T17:26:53.995Z,1736357213.995 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:26:53.996Z,1736357213.996 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:26:53.996Z,1736357213.996 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:26:54.176Z,1736357214.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:54.186Z,1736357214.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-01-08T17:26:54.189Z,1736357214.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 225.126053 m,
      bearing: 271.280190 deg,
      approach rate: -0.545684 m/s,
      LOS rate: 0.009895 deg/s,
      cmd heading: 266.694107 deg,
      new cmd heading: 266.705788 deg.

2025-01-08T17:26:54.190Z,1736357214.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654894 target range: 258.100006 and range: 258.10 m.
2025-01-08T17:26:54.232Z,1736357214.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495930
2025-01-08T17:26:54.484Z,1736357214.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747746
2025-01-08T17:26:54.555Z,1736357214.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:54.565Z,1736357214.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-01-08T17:26:54.567Z,1736357214.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 224.935257 m,
      bearing: 271.283414 deg,
      approach rate: -0.503787 m/s,
      LOS rate: 0.008520 deg/s,
      cmd heading: 266.705800 deg,
      new cmd heading: 266.715480 deg.

2025-01-08T17:26:54.568Z,1736357214.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655063 target range: 258.100006 and range: 258.10 m.
2025-01-08T17:26:54.737Z,1736357214.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000426
2025-01-08T17:26:54.992Z,1736357214.992 [DAT](INFO): DAT read: Rx Time:17:26:53.7041

2025-01-08T17:26:54.994Z,1736357214.994 [DAT](INFO): Rx dataTimestamp_ set to:1736357214.993017
2025-01-08T17:26:54.997Z,1736357214.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260396
2025-01-08T17:26:55.018Z,1736357215.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:55.054Z,1736357215.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-01-08T17:26:55.062Z,1736357215.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 224.702347 m,
      bearing: 271.287189 deg,
      approach rate: -0.475964 m/s,
      LOS rate: 0.007721 deg/s,
      cmd heading: 266.715472 deg,
      new cmd heading: 266.726807 deg.

2025-01-08T17:26:55.068Z,1736357215.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655261 target range: 258.100006 and range: 258.10 m.
2025-01-08T17:26:55.240Z,1736357215.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503650
2025-01-08T17:26:55.429Z,1736357215.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:55.463Z,1736357215.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-01-08T17:26:55.470Z,1736357215.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 224.495056 m,
      bearing: 271.289991 deg,
      approach rate: -0.507282 m/s,
      LOS rate: 0.006865 deg/s,
      cmd heading: 266.726810 deg,
      new cmd heading: 266.735226 deg.

2025-01-08T17:26:55.471Z,1736357215.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655408 target range: 258.100006 and range: 258.10 m.
2025-01-08T17:26:55.506Z,1736357215.506 [DAT](INFO): DAT read: 17:26:53.7041 LVL= 24016, 26865, 25074, 30275, AGC= 65, IDX= 149,-0.27, 2.343, 0.922, 2.402, 1.367, PHS= 1.064,-0.398, 1.032, RAW= 148.9, -22.5, CAL= 153.7, -29.4, ROT= 356.3,  29.4

2025-01-08T17:26:55.508Z,1736357215.508 [DAT](INFO): got valid direction response:
 17:26:53.7041 LVL= 24016, 26865, 25074, 30275, AGC= 65, IDX= 149,-0.27, 2.343, 0.922, 2.402, 1.367, PHS= 1.064,-0.398, 1.032, RAW= 148.9, -22.5, CAL= 153.7, -29.4, ROT= 356.3,  29.4

2025-01-08T17:26:55.510Z,1736357215.510 [DAT](INFO): DAT read: Bearing 356.3,  29.4 (Local)

2025-01-08T17:26:55.510Z,1736357215.510 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.3,  29.4 (Local)

2025-01-08T17:26:55.532Z,1736357215.532 [DAT](INFO): DAT read: Range 10 to 50 : 236.1 m  (Round-trip  314.9 ms) speed  0.8 m/s

2025-01-08T17:26:55.533Z,1736357215.533 [DAT](INFO): DAT read: user:152>

2025-01-08T17:26:55.534Z,1736357215.534 [DAT](INFO): DAT read: Tx time:17:26:54.7850

2025-01-08T17:26:55.534Z,1736357215.534 [DAT](INFO): Ping request sent.
2025-01-08T17:26:55.534Z,1736357215.534 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:26:55.534Z,1736357215.534 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:26:55.572Z,1736357215.572 [DAT](INFO): direction in FSK: [0.869398,-0.056222,-0.490904]
2025-01-08T17:26:55.573Z,1736357215.573 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:55.573Z,1736357215.573 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:55.582Z,1736357215.582 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:55.582Z,1736357215.582 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:55.745Z,1736357215.745 [DAT](INFO): DAT read: TxSync time:17:26:54.7842

2025-01-08T17:26:55.821Z,1736357215.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:55.853Z,1736357215.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 236.100006 m,
 deltaT: 3.785066 s,
 deltaX: -22.000000 m,
 approachRate: -5.812316 m/s,
 rangeRepo size: 4
2025-01-08T17:26:55.854Z,1736357215.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-01-08T17:26:55.865Z,1736357215.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 224.296661 m,
      bearing: 271.292580 deg,
      approach rate: -0.516442 m/s,
      LOS rate: 0.006744 deg/s,
      cmd heading: 266.735225 deg,
      new cmd heading: 266.742997 deg.

2025-01-08T17:26:55.866Z,1736357215.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655543 target range: 258.100006 and range: 258.10 m.
2025-01-08T17:26:56.230Z,1736357216.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:26:56.230Z,1736357216.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:56.237Z,1736357216.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:56.239Z,1736357216.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-01-08T17:26:56.242Z,1736357216.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 224.090744 m,
      bearing: 271.295271 deg,
      approach rate: -0.525212 m/s,
      LOS rate: 0.006871 deg/s,
      cmd heading: 266.742984 deg,
      new cmd heading: 266.751065 deg.

2025-01-08T17:26:56.244Z,1736357216.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655684 target range: 258.100006 and range: 258.10 m.
2025-01-08T17:26:56.248Z,1736357216.248 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:26:56.248Z,1736357216.248 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:26:56.249Z,1736357216.249 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:26:56.500Z,1736357216.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.966104
2025-01-08T17:26:56.607Z,1736357216.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:26:56.608Z,1736357216.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:56.628Z,1736357216.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-01-08T17:26:56.637Z,1736357216.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 223.901199 m,
      bearing: 271.297844 deg,
      approach rate: -0.489414 m/s,
      LOS rate: 0.006650 deg/s,
      cmd heading: 266.751071 deg,
      new cmd heading: 266.758798 deg.

2025-01-08T17:26:56.639Z,1736357216.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655819 target range: 258.100006 and range: 258.10 m.
2025-01-08T17:26:56.753Z,1736357216.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.218894
2025-01-08T17:26:57.008Z,1736357217.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472786
2025-01-08T17:26:57.099Z,1736357217.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:57.108Z,1736357217.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-01-08T17:26:57.128Z,1736357217.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 223.603516 m,
      bearing: 271.298453 deg,
      approach rate: -0.617751 m/s,
      LOS rate: 0.001264 deg/s,
      cmd heading: 266.758803 deg,
      new cmd heading: 266.760630 deg.

2025-01-08T17:26:57.129Z,1736357217.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655851 target range: 258.100006 and range: 258.10 m.
2025-01-08T17:26:57.256Z,1736357217.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721949
2025-01-08T17:26:57.408Z,1736357217.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:57.417Z,1736357217.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-01-08T17:26:57.420Z,1736357217.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 223.417419 m,
      bearing: 271.298737 deg,
      approach rate: -0.602460 m/s,
      LOS rate: 0.000922 deg/s,
      cmd heading: 266.760633 deg,
      new cmd heading: 266.761488 deg.

2025-01-08T17:26:57.421Z,1736357217.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655866 target range: 258.100006 and range: 258.10 m.
2025-01-08T17:26:57.509Z,1736357217.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974299
2025-01-08T17:26:57.762Z,1736357217.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227663
2025-01-08T17:26:57.814Z,1736357217.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:57.849Z,1736357217.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-01-08T17:26:57.856Z,1736357217.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 223.172729 m,
      bearing: 271.299101 deg,
      approach rate: -0.565940 m/s,
      LOS rate: 0.000843 deg/s,
      cmd heading: 266.761480 deg,
      new cmd heading: 266.762574 deg.

2025-01-08T17:26:57.857Z,1736357217.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655885 target range: 258.100006 and range: 258.10 m.
2025-01-08T17:26:58.018Z,1736357218.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482492
2025-01-08T17:26:58.251Z,1736357218.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:58.258Z,1736357218.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:26:58.264Z,1736357218.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730193
2025-01-08T17:26:58.266Z,1736357218.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-01-08T17:26:58.273Z,1736357218.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 222.879898 m,
      bearing: 271.300003 deg,
      approach rate: -0.702400 m/s,
      LOS rate: 0.002166 deg/s,
      cmd heading: 266.762573 deg,
      new cmd heading: 266.765282 deg.

2025-01-08T17:26:58.274Z,1736357218.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655932 target range: 258.100006 and range: 258.10 m.
2025-01-08T17:26:58.516Z,1736357218.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982093
2025-01-08T17:26:58.629Z,1736357218.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:58.637Z,1736357218.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-01-08T17:26:58.640Z,1736357218.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 222.606522 m,
      bearing: 271.301021 deg,
      approach rate: -0.736635 m/s,
      LOS rate: 0.002747 deg/s,
      cmd heading: 266.765278 deg,
      new cmd heading: 266.768336 deg.

2025-01-08T17:26:58.641Z,1736357218.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655986 target range: 258.100006 and range: 258.10 m.
2025-01-08T17:26:58.768Z,1736357218.768 [DAT](INFO): DAT read: Rx Time:17:26:57.5260

2025-01-08T17:26:58.769Z,1736357218.769 [DAT](INFO): Rx dataTimestamp_ set to:1736357218.768573
2025-01-08T17:26:58.769Z,1736357218.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235181
2025-01-08T17:26:59.020Z,1736357219.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486068
2025-01-08T17:26:59.123Z,1736357219.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:59.133Z,1736357219.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.10 m.
2025-01-08T17:26:59.136Z,1736357219.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 258.100006 m,
      nav range: 222.217117 m,
      bearing: 271.302082 deg,
      approach rate: -0.785461 m/s,
      LOS rate: 0.002144 deg/s,
      cmd heading: 266.768338 deg,
      new cmd heading: 266.771526 deg.

2025-01-08T17:26:59.137Z,1736357219.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656042 target range: 258.100006 and range: 258.10 m.
2025-01-08T17:26:59.282Z,1736357219.282 [DAT](INFO): DAT read: 17:26:57.5260 LVL= 23024, 23409, 20274, 23299, AGC= 60, IDX= 144,-0.25,-0.357,-1.519,-0.354,-1.242, PHS= 0.972,-0.230, 0.885, RAW= 146.3, -26.4, CAL= 150.5, -32.5, ROT= 359.5,  32.5

2025-01-08T17:26:59.283Z,1736357219.283 [DAT](INFO): got valid direction response:
 17:26:57.5260 LVL= 23024, 23409, 20274, 23299, AGC= 60, IDX= 144,-0.25,-0.357,-1.519,-0.354,-1.242, PHS= 0.972,-0.230, 0.885, RAW= 146.3, -26.4, CAL= 150.5, -32.5, ROT= 359.5,  32.5

2025-01-08T17:26:59.284Z,1736357219.284 [DAT](INFO): DAT read: Bearing 359.5,  32.5 (Local)

2025-01-08T17:26:59.285Z,1736357219.285 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.5,  32.5 (Local)

2025-01-08T17:26:59.286Z,1736357219.286 [DAT](INFO): DAT read: Range 10 to 50 : 252.6 m  (Round-trip  336.8 ms) speed  0.5 m/s

2025-01-08T17:26:59.287Z,1736357219.287 [DAT](INFO): DAT read: user:153>

2025-01-08T17:26:59.288Z,1736357219.288 [DAT](INFO): DAT read: Tx time:17:26:58.6351

2025-01-08T17:26:59.288Z,1736357219.288 [DAT](INFO): Ping request sent.
2025-01-08T17:26:59.288Z,1736357219.288 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:26:59.288Z,1736357219.288 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:26:59.289Z,1736357219.289 [DAT](INFO): direction in FSK: [0.843359,-0.007360,-0.537300]
2025-01-08T17:26:59.290Z,1736357219.290 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:59.290Z,1736357219.290 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:59.297Z,1736357219.297 [DAT](INFO): publishing transmit ping time
2025-01-08T17:26:59.298Z,1736357219.298 [DAT](INFO): publishing direction and range info
2025-01-08T17:26:59.433Z,1736357219.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:59.471Z,1736357219.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 252.600006 m,
      deltaT: 7.565764 s,
      deltaX: -5.500000 m,
      approachRate: -0.726959 m/s,
      rangeRepo size: 4

2025-01-08T17:26:59.478Z,1736357219.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 252.600006 m,
      bearing: 271.198995 deg,
      lat: 36.904132 deg,
      lon: -122.119109 deg,
      deltaT: 7.565764 s,
      deltaX: -5.500000 m,
      approachRate: -0.726959 m/s,
      posRepo size: 4

2025-01-08T17:26:59.496Z,1736357219.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.60 m.
2025-01-08T17:26:59.498Z,1736357219.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.600006 m,
      nav range: 213.080826 m,
      bearing: 271.199714 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002144 deg/s,
      cmd heading: 266.771534 deg,
      new cmd heading: 266.773701 deg.

2025-01-08T17:26:59.503Z,1736357219.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656079 target range: 252.600006 and range: 252.60 m.
2025-01-08T17:26:59.525Z,1736357219.525 [DAT](INFO): DAT read: TxSync time:17:26:58.6343

2025-01-08T17:26:59.840Z,1736357219.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:26:59.848Z,1736357219.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.60 m.
2025-01-08T17:26:59.851Z,1736357219.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.600006 m,
      nav range: 212.760132 m,
      bearing: 271.201092 deg,
      approach rate: -0.848067 m/s,
      LOS rate: 0.003648 deg/s,
      cmd heading: 266.773693 deg,
      new cmd heading: 266.777831 deg.

2025-01-08T17:26:59.854Z,1736357219.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656151 target range: 252.600006 and range: 252.60 m.
2025-01-08T17:27:00.321Z,1736357220.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:00.329Z,1736357220.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:00.331Z,1736357220.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.60 m.
2025-01-08T17:27:00.334Z,1736357220.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.600006 m,
      nav range: 212.356613 m,
      bearing: 271.202378 deg,
      approach rate: -0.835951 m/s,
      LOS rate: 0.002670 deg/s,
      cmd heading: 266.777818 deg,
      new cmd heading: 266.781684 deg.

2025-01-08T17:27:00.335Z,1736357220.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656219 target range: 252.600006 and range: 252.60 m.
2025-01-08T17:27:00.536Z,1736357220.536 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:27:00.536Z,1736357220.536 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:27:00.536Z,1736357220.536 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:27:00.709Z,1736357220.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:00.735Z,1736357220.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.60 m.
2025-01-08T17:27:00.741Z,1736357220.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.600006 m,
      nav range: 212.030884 m,
      bearing: 271.203901 deg,
      approach rate: -0.806670 m/s,
      LOS rate: 0.003777 deg/s,
      cmd heading: 266.781670 deg,
      new cmd heading: 266.786246 deg.

2025-01-08T17:27:00.742Z,1736357220.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656298 target range: 252.600006 and range: 252.60 m.
2025-01-08T17:27:00.788Z,1736357220.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500452
2025-01-08T17:27:01.044Z,1736357221.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755701
2025-01-08T17:27:01.226Z,1736357221.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:01.236Z,1736357221.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.60 m.
2025-01-08T17:27:01.238Z,1736357221.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.600006 m,
      nav range: 211.581818 m,
      bearing: 271.206285 deg,
      approach rate: -0.897076 m/s,
      LOS rate: 0.004772 deg/s,
      cmd heading: 266.786233 deg,
      new cmd heading: 266.793399 deg.

2025-01-08T17:27:01.239Z,1736357221.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656423 target range: 252.600006 and range: 252.60 m.
2025-01-08T17:27:01.293Z,1736357221.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005347
2025-01-08T17:27:01.545Z,1736357221.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257414
2025-01-08T17:27:01.597Z,1736357221.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:01.614Z,1736357221.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.60 m.
2025-01-08T17:27:01.622Z,1736357221.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.600006 m,
      nav range: 211.259323 m,
      bearing: 271.208629 deg,
      approach rate: -0.850200 m/s,
      LOS rate: 0.006189 deg/s,
      cmd heading: 266.793391 deg,
      new cmd heading: 266.800433 deg.

2025-01-08T17:27:01.623Z,1736357221.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656546 target range: 252.600006 and range: 252.60 m.
2025-01-08T17:27:01.798Z,1736357221.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509726
2025-01-08T17:27:01.984Z,1736357221.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:02.008Z,1736357222.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.60 m.
2025-01-08T17:27:02.016Z,1736357222.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.600006 m,
      nav range: 210.922546 m,
      bearing: 271.211365 deg,
      approach rate: -0.854761 m/s,
      LOS rate: 0.006957 deg/s,
      cmd heading: 266.800440 deg,
      new cmd heading: 266.808662 deg.

2025-01-08T17:27:02.017Z,1736357222.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656690 target range: 252.600006 and range: 252.60 m.
2025-01-08T17:27:02.048Z,1736357222.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760370
2025-01-08T17:27:02.300Z,1736357222.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012302
2025-01-08T17:27:02.417Z,1736357222.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:02.424Z,1736357222.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:02.427Z,1736357222.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.60 m.
2025-01-08T17:27:02.430Z,1736357222.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.600006 m,
      nav range: 210.558578 m,
      bearing: 271.213726 deg,
      approach rate: -0.872105 m/s,
      LOS rate: 0.005665 deg/s,
      cmd heading: 266.808663 deg,
      new cmd heading: 266.815756 deg.

2025-01-08T17:27:02.431Z,1736357222.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656814 target range: 252.600006 and range: 252.60 m.
2025-01-08T17:27:02.488Z,1736357222.488 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:27:02.553Z,1736357222.553 [DAT](INFO): DAT read: Rx Time:17:27:01.3483

2025-01-08T17:27:02.553Z,1736357222.553 [DAT](INFO): Rx dataTimestamp_ set to:1736357222.552760
2025-01-08T17:27:02.554Z,1736357222.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265584
2025-01-08T17:27:02.786Z,1736357222.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:02.805Z,1736357222.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517192
2025-01-08T17:27:02.817Z,1736357222.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.60 m.
2025-01-08T17:27:02.824Z,1736357222.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.600006 m,
      nav range: 210.248016 m,
      bearing: 271.215912 deg,
      approach rate: -0.793272 m/s,
      LOS rate: 0.005594 deg/s,
      cmd heading: 266.815766 deg,
      new cmd heading: 266.822337 deg.

2025-01-08T17:27:02.825Z,1736357222.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656928 target range: 252.600006 and range: 252.60 m.
2025-01-08T17:27:03.060Z,1736357223.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771703
2025-01-08T17:27:03.222Z,1736357223.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:03.232Z,1736357223.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.60 m.
2025-01-08T17:27:03.235Z,1736357223.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.600006 m,
      nav range: 209.899414 m,
      bearing: 271.218445 deg,
      approach rate: -0.840469 m/s,
      LOS rate: 0.006115 deg/s,
      cmd heading: 266.822323 deg,
      new cmd heading: 266.829933 deg.

2025-01-08T17:27:03.236Z,1736357223.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657061 target range: 252.600006 and range: 252.60 m.
2025-01-08T17:27:03.319Z,1736357223.319 [DAT](INFO): DAT read: 17:27:01.3483 LVL= 21440, 28913, 25714, 26963, AGC= 65, IDX= 152, 0.32, 0.485,-0.878, 0.425,-0.451, PHS= 1.024,-0.379, 0.873, RAW= 144.4, -21.9, CAL= 149.5, -28.9, ROT=   0.5,  28.9

2025-01-08T17:27:03.321Z,1736357223.321 [DAT](INFO): got valid direction response:
 17:27:01.3483 LVL= 21440, 28913, 25714, 26963, AGC= 65, IDX= 152, 0.32, 0.485,-0.878, 0.425,-0.451, PHS= 1.024,-0.379, 0.873, RAW= 144.4, -21.9, CAL= 149.5, -28.9, ROT=   0.5,  28.9

2025-01-08T17:27:03.322Z,1736357223.322 [DAT](INFO): DAT read: Bearing   0.5,  28.9 (Local)

2025-01-08T17:27:03.322Z,1736357223.322 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.5,  28.9 (Local)

2025-01-08T17:27:03.324Z,1736357223.324 [DAT](INFO): DAT read: Range 10 to 50 : 231.7 m  (Round-trip  309.0 ms) speed  0.2 m/s

2025-01-08T17:27:03.325Z,1736357223.325 [DAT](INFO): DAT read: user:154>

2025-01-08T17:27:03.326Z,1736357223.326 [DAT](INFO): DAT read: Tx time:17:27:02.4351

2025-01-08T17:27:03.327Z,1736357223.327 [DAT](INFO): Ping request sent.
2025-01-08T17:27:03.327Z,1736357223.327 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:27:03.328Z,1736357223.328 [DAT](INFO): DAT read: TxSync time:17:27:02.4343

2025-01-08T17:27:03.329Z,1736357223.329 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:27:03.330Z,1736357223.330 [DAT](INFO): direction in FSK: [0.875431,0.007640,-0.483282]
2025-01-08T17:27:03.330Z,1736357223.330 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:03.330Z,1736357223.330 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:03.340Z,1736357223.340 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:03.340Z,1736357223.340 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:03.492Z,1736357223.492 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:27:03.617Z,1736357223.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:03.632Z,1736357223.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 231.699997 m,
 deltaT: 4.034530 s,
 deltaX: -20.900009 m,
 approachRate: -5.180284 m/s,
 rangeRepo size: 4
2025-01-08T17:27:03.633Z,1736357223.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.60 m.
2025-01-08T17:27:03.652Z,1736357223.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.600006 m,
      nav range: 209.584290 m,
      bearing: 271.220741 deg,
      approach rate: -0.789738 m/s,
      LOS rate: 0.005763 deg/s,
      cmd heading: 266.829946 deg,
      new cmd heading: 266.836845 deg.

2025-01-08T17:27:03.653Z,1736357223.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657182 target range: 252.600006 and range: 252.60 m.
2025-01-08T17:27:04.003Z,1736357224.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:04.012Z,1736357224.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.60 m.
2025-01-08T17:27:04.015Z,1736357224.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.600006 m,
      nav range: 209.275391 m,
      bearing: 271.223181 deg,
      approach rate: -0.809953 m/s,
      LOS rate: 0.006406 deg/s,
      cmd heading: 266.836858 deg,
      new cmd heading: 266.844188 deg.

2025-01-08T17:27:04.016Z,1736357224.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657310 target range: 252.600006 and range: 252.60 m.
2025-01-08T17:27:04.431Z,1736357224.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:04.438Z,1736357224.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:04.440Z,1736357224.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.60 m.
2025-01-08T17:27:04.444Z,1736357224.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.600006 m,
      nav range: 208.971237 m,
      bearing: 271.226091 deg,
      approach rate: -0.711866 m/s,
      LOS rate: 0.006822 deg/s,
      cmd heading: 266.844180 deg,
      new cmd heading: 266.852925 deg.

2025-01-08T17:27:04.445Z,1736357224.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657462 target range: 252.600006 and range: 252.60 m.
2025-01-08T17:27:04.568Z,1736357224.568 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:27:04.568Z,1736357224.568 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:27:04.569Z,1736357224.569 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:27:04.810Z,1736357224.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:04.818Z,1736357224.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.60 m.
2025-01-08T17:27:04.820Z,1736357224.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493468
2025-01-08T17:27:04.843Z,1736357224.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.600006 m,
      nav range: 208.701279 m,
      bearing: 271.228447 deg,
      approach rate: -0.713089 m/s,
      LOS rate: 0.006230 deg/s,
      cmd heading: 266.852923 deg,
      new cmd heading: 266.859998 deg.

2025-01-08T17:27:04.846Z,1736357224.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657586 target range: 252.600006 and range: 252.60 m.
2025-01-08T17:27:05.074Z,1736357225.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746444
2025-01-08T17:27:05.232Z,1736357225.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:05.241Z,1736357225.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.60 m.
2025-01-08T17:27:05.260Z,1736357225.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.600006 m,
      nav range: 208.431717 m,
      bearing: 271.232034 deg,
      approach rate: -0.638370 m/s,
      LOS rate: 0.008506 deg/s,
      cmd heading: 266.859999 deg,
      new cmd heading: 266.870774 deg.

2025-01-08T17:27:05.261Z,1736357225.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657773 target range: 252.600006 and range: 252.60 m.
2025-01-08T17:27:05.327Z,1736357225.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999158
2025-01-08T17:27:05.577Z,1736357225.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250042
2025-01-08T17:27:05.638Z,1736357225.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:05.655Z,1736357225.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.60 m.
2025-01-08T17:27:05.661Z,1736357225.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.600006 m,
      nav range: 208.173004 m,
      bearing: 271.235263 deg,
      approach rate: -0.625508 m/s,
      LOS rate: 0.007817 deg/s,
      cmd heading: 266.870763 deg,
      new cmd heading: 266.880463 deg.

2025-01-08T17:27:05.662Z,1736357225.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657943 target range: 252.600006 and range: 252.60 m.
2025-01-08T17:27:05.828Z,1736357225.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501350
2025-01-08T17:27:06.052Z,1736357226.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:06.080Z,1736357226.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753501
2025-01-08T17:27:06.097Z,1736357226.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.60 m.
2025-01-08T17:27:06.104Z,1736357226.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.600006 m,
      nav range: 207.907944 m,
      bearing: 271.238285 deg,
      approach rate: -0.597939 m/s,
      LOS rate: 0.006824 deg/s,
      cmd heading: 266.880462 deg,
      new cmd heading: 266.889538 deg.

2025-01-08T17:27:06.105Z,1736357226.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658101 target range: 252.600006 and range: 252.60 m.
2025-01-08T17:27:06.332Z,1736357226.332 [DAT](INFO): DAT read: Rx Time:17:27:05.1450

2025-01-08T17:27:06.333Z,1736357226.333 [DAT](INFO): Rx dataTimestamp_ set to:1736357226.332489
2025-01-08T17:27:06.333Z,1736357226.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006436
2025-01-08T17:27:06.465Z,1736357226.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:06.471Z,1736357226.471 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:06.473Z,1736357226.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.60 m.
2025-01-08T17:27:06.477Z,1736357226.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.600006 m,
      nav range: 207.669754 m,
      bearing: 271.241171 deg,
      approach rate: -0.633827 m/s,
      LOS rate: 0.007690 deg/s,
      cmd heading: 266.889533 deg,
      new cmd heading: 266.898202 deg.

2025-01-08T17:27:06.478Z,1736357226.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658252 target range: 252.600006 and range: 252.60 m.
2025-01-08T17:27:06.585Z,1736357226.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258235
2025-01-08T17:27:06.839Z,1736357226.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511435
2025-01-08T17:27:06.893Z,1736357226.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:06.921Z,1736357226.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.60 m.
2025-01-08T17:27:06.925Z,1736357226.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.600006 m,
      nav range: 207.422028 m,
      bearing: 271.243940 deg,
      approach rate: -0.553670 m/s,
      LOS rate: 0.006196 deg/s,
      cmd heading: 266.898193 deg,
      new cmd heading: 266.906510 deg.

2025-01-08T17:27:06.926Z,1736357226.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658397 target range: 252.600006 and range: 252.60 m.
2025-01-08T17:27:07.099Z,1736357227.099 [DAT](INFO): DAT read: 17:27:05.1450 LVL= 19520, 22689, 20082, 25523, AGC= 60, IDX= 407,-0.46,-0.982,-2.336,-0.995,-1.878, PHS= 0.984,-0.411, 0.880, RAW= 146.2, -20.9, CAL= 151.4, -28.0, ROT= 358.6,  28.0

2025-01-08T17:27:07.100Z,1736357227.100 [DAT](INFO): got valid direction response:
 17:27:05.1450 LVL= 19520, 22689, 20082, 25523, AGC= 60, IDX= 407,-0.46,-0.982,-2.336,-0.995,-1.878, PHS= 0.984,-0.411, 0.880, RAW= 146.2, -20.9, CAL= 151.4, -28.0, ROT= 358.6,  28.0

2025-01-08T17:27:07.101Z,1736357227.101 [DAT](INFO): DAT read: Bearing 358.6,  28.0 (Local)

2025-01-08T17:27:07.102Z,1736357227.102 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.6,  28.0 (Local)

2025-01-08T17:27:07.103Z,1736357227.103 [DAT](INFO): DAT read: Range 10 to 50 : 229.2 m  (Round-trip  305.7 ms) speed  0.8 m/s

2025-01-08T17:27:07.104Z,1736357227.104 [DAT](INFO): DAT read: user:155>

2025-01-08T17:27:07.105Z,1736357227.105 [DAT](INFO): DAT read: Tx time:17:27:06.2351

2025-01-08T17:27:07.105Z,1736357227.105 [DAT](INFO): Ping request sent.
2025-01-08T17:27:07.105Z,1736357227.105 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:27:07.106Z,1736357227.106 [DAT](INFO): DAT read: TxSync time:17:27:06.2343

2025-01-08T17:27:07.106Z,1736357227.106 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:27:07.108Z,1736357227.108 [DAT](INFO): direction in FSK: [0.882684,-0.021572,-0.469472]
2025-01-08T17:27:07.108Z,1736357227.108 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:07.108Z,1736357227.108 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:07.117Z,1736357227.117 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:07.118Z,1736357227.118 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:07.334Z,1736357227.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:07.367Z,1736357227.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 229.199997 m,
      deltaT: 7.813700 s,
      deltaX: -23.400009 m,
      approachRate: -2.994741 m/s,
      rangeRepo size: 4

2025-01-08T17:27:07.373Z,1736357227.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 229.199997 m,
      bearing: 269.876553 deg,
      lat: 36.904096 deg,
      lon: -122.119068 deg,
      deltaT: 7.813700 s,
      deltaX: -23.400009 m,
      approachRate: -2.994741 m/s,
      posRepo size: 4

2025-01-08T17:27:07.374Z,1736357227.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.20 m.
2025-01-08T17:27:07.385Z,1736357227.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.199997 m,
      nav range: 203.461441 m,
      bearing: 270.150180 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006196 deg/s,
      cmd heading: 266.906499 deg,
      new cmd heading: 266.914780 deg.

2025-01-08T17:27:07.386Z,1736357227.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658542 target range: 229.199997 and range: 229.20 m.
2025-01-08T17:27:07.661Z,1736357227.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:07.669Z,1736357227.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.20 m.
2025-01-08T17:27:07.689Z,1736357227.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.199997 m,
      nav range: 203.287140 m,
      bearing: 270.151194 deg,
      approach rate: -0.574832 m/s,
      LOS rate: 0.003347 deg/s,
      cmd heading: 266.914777 deg,
      new cmd heading: 266.917822 deg.

2025-01-08T17:27:07.691Z,1736357227.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658595 target range: 229.199997 and range: 229.20 m.
2025-01-08T17:27:08.087Z,1736357228.087 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:08.098Z,1736357228.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.20 m.
2025-01-08T17:27:08.101Z,1736357228.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.199997 m,
      nav range: 203.059906 m,
      bearing: 270.152519 deg,
      approach rate: -0.530360 m/s,
      LOS rate: 0.003095 deg/s,
      cmd heading: 266.917810 deg,
      new cmd heading: 266.921788 deg.

2025-01-08T17:27:08.102Z,1736357228.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658664 target range: 229.199997 and range: 229.20 m.
2025-01-08T17:27:08.519Z,1736357228.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:08.527Z,1736357228.527 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:08.529Z,1736357228.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.20 m.
2025-01-08T17:27:08.532Z,1736357228.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.199997 m,
      nav range: 202.830002 m,
      bearing: 270.154344 deg,
      approach rate: -0.533206 m/s,
      LOS rate: 0.004237 deg/s,
      cmd heading: 266.921798 deg,
      new cmd heading: 266.927279 deg.

2025-01-08T17:27:08.533Z,1736357228.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658760 target range: 229.199997 and range: 229.20 m.
2025-01-08T17:27:08.600Z,1736357228.600 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:27:08.600Z,1736357228.600 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:27:08.601Z,1736357228.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:27:08.852Z,1736357228.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746740
2025-01-08T17:27:08.881Z,1736357228.881 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:08.891Z,1736357228.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.20 m.
2025-01-08T17:27:08.908Z,1736357228.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.199997 m,
      nav range: 202.637314 m,
      bearing: 270.155467 deg,
      approach rate: -0.532286 m/s,
      LOS rate: 0.003107 deg/s,
      cmd heading: 266.927290 deg,
      new cmd heading: 266.930664 deg.

2025-01-08T17:27:08.909Z,1736357228.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658819 target range: 229.199997 and range: 229.20 m.
2025-01-08T17:27:09.105Z,1736357229.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999254
2025-01-08T17:27:09.356Z,1736357229.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250942
2025-01-08T17:27:09.358Z,1736357229.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:09.385Z,1736357229.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.20 m.
2025-01-08T17:27:09.388Z,1736357229.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.199997 m,
      nav range: 202.366806 m,
      bearing: 270.157687 deg,
      approach rate: -0.567750 m/s,
      LOS rate: 0.004666 deg/s,
      cmd heading: 266.930650 deg,
      new cmd heading: 266.937320 deg.

2025-01-08T17:27:09.389Z,1736357229.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658935 target range: 229.199997 and range: 229.20 m.
2025-01-08T17:27:09.608Z,1736357229.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503048
2025-01-08T17:27:09.756Z,1736357229.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:09.766Z,1736357229.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.20 m.
2025-01-08T17:27:09.769Z,1736357229.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.199997 m,
      nav range: 202.141266 m,
      bearing: 270.159410 deg,
      approach rate: -0.566634 m/s,
      LOS rate: 0.004332 deg/s,
      cmd heading: 266.937317 deg,
      new cmd heading: 266.942489 deg.

2025-01-08T17:27:09.770Z,1736357229.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659025 target range: 229.199997 and range: 229.20 m.
2025-01-08T17:27:09.861Z,1736357229.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755714
2025-01-08T17:27:10.115Z,1736357230.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009501
2025-01-08T17:27:10.185Z,1736357230.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:10.198Z,1736357230.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.20 m.
2025-01-08T17:27:10.201Z,1736357230.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.199997 m,
      nav range: 201.898239 m,
      bearing: 270.161184 deg,
      approach rate: -0.562144 m/s,
      LOS rate: 0.004109 deg/s,
      cmd heading: 266.942480 deg,
      new cmd heading: 266.947810 deg.

2025-01-08T17:27:10.202Z,1736357230.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659118 target range: 229.199997 and range: 229.20 m.
2025-01-08T17:27:10.365Z,1736357230.365 [DAT](INFO): DAT read: Rx Time:17:27:08.9669

2025-01-08T17:27:10.365Z,1736357230.365 [DAT](INFO): Rx dataTimestamp_ set to:1736357230.365045
2025-01-08T17:27:10.366Z,1736357230.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260473
2025-01-08T17:27:10.595Z,1736357230.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:10.605Z,1736357230.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:10.608Z,1736357230.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 229.20 m.
2025-01-08T17:27:10.616Z,1736357230.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510919
2025-01-08T17:27:10.631Z,1736357230.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 229.199997 m,
      nav range: 201.650009 m,
      bearing: 270.162216 deg,
      approach rate: -0.606149 m/s,
      LOS rate: 0.002523 deg/s,
      cmd heading: 266.947808 deg,
      new cmd heading: 266.950907 deg.

2025-01-08T17:27:10.632Z,1736357230.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659172 target range: 229.199997 and range: 229.20 m.
2025-01-08T17:27:10.874Z,1736357230.874 [DAT](INFO): DAT read: 17:27:08.9669 LVL= 22960, 26561, 22610, 26083, AGC= 63, IDX= 150, 0.22, 1.366, 0.236, 1.348, 0.429, PHS= 1.025,-0.146, 0.916, RAW= 145.2, -29.5, CAL= 149.0, -34.9, ROT=   1.0,  34.9

2025-01-08T17:27:10.875Z,1736357230.875 [DAT](INFO): got valid direction response:
 17:27:08.9669 LVL= 22960, 26561, 22610, 26083, AGC= 63, IDX= 150, 0.22, 1.366, 0.236, 1.348, 0.429, PHS= 1.025,-0.146, 0.916, RAW= 145.2, -29.5, CAL= 149.0, -34.9, ROT=   1.0,  34.9

2025-01-08T17:27:10.876Z,1736357230.876 [DAT](INFO): DAT read: Bearing   1.0,  34.9 (Local)

2025-01-08T17:27:10.876Z,1736357230.876 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.0,  34.9 (Local)

2025-01-08T17:27:10.878Z,1736357230.878 [DAT](INFO): DAT read: Range 10 to 50 : 245.7 m  (Round-trip  327.6 ms) speed  0.4 m/s

2025-01-08T17:27:10.879Z,1736357230.879 [DAT](INFO): DAT read: user:156>

2025-01-08T17:27:10.886Z,1736357230.886 [DAT](INFO): DAT read: Tx time:17:27:10.0852

2025-01-08T17:27:10.886Z,1736357230.886 [DAT](INFO): Ping request sent.
2025-01-08T17:27:10.886Z,1736357230.886 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:27:10.886Z,1736357230.886 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:27:10.897Z,1736357230.897 [DAT](INFO): direction in FSK: [0.820027,0.014314,-0.572146]
2025-01-08T17:27:10.898Z,1736357230.898 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:10.898Z,1736357230.898 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:10.901Z,1736357230.901 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:10.901Z,1736357230.901 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:11.060Z,1736357231.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:11.093Z,1736357231.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 245.699997 m,
      deltaT: 3.779939 s,
      deltaX: 16.500000 m,
      approachRate: 4.365150 m/s,
      rangeRepo size: 4

2025-01-08T17:27:11.100Z,1736357231.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 245.699997 m,
      bearing: 274.087052 deg,
      lat: 36.904096 deg,
      lon: -122.119068 deg,
      deltaT: 3.779939 s,
      deltaX: 16.500000 m,
      approachRate: 4.365150 m/s,
      posRepo size: 4

2025-01-08T17:27:11.101Z,1736357231.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.70 m.
2025-01-08T17:27:11.108Z,1736357231.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.699997 m,
      nav range: 201.369965 m,
      bearing: 270.163383 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002523 deg/s,
      cmd heading: 266.950895 deg,
      new cmd heading: 266.954527 deg.

2025-01-08T17:27:11.110Z,1736357231.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659235 target range: 245.699997 and range: 245.70 m.
2025-01-08T17:27:11.120Z,1736357231.120 [DAT](INFO): DAT read: TxSync time:17:27:10.0844

2025-01-08T17:27:11.479Z,1736357231.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:11.500Z,1736357231.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.70 m.
2025-01-08T17:27:11.503Z,1736357231.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.699997 m,
      nav range: 201.092194 m,
      bearing: 270.163951 deg,
      approach rate: -0.672471 m/s,
      LOS rate: 0.001378 deg/s,
      cmd heading: 266.954529 deg,
      new cmd heading: 266.956237 deg.

2025-01-08T17:27:11.504Z,1736357231.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659266 target range: 245.699997 and range: 245.70 m.
2025-01-08T17:27:11.802Z,1736357231.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:11.812Z,1736357231.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.70 m.
2025-01-08T17:27:11.814Z,1736357231.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.699997 m,
      nav range: 200.878876 m,
      bearing: 270.164458 deg,
      approach rate: -0.685577 m/s,
      LOS rate: 0.001628 deg/s,
      cmd heading: 266.956250 deg,
      new cmd heading: 266.957770 deg.

2025-01-08T17:27:11.816Z,1736357231.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659292 target range: 245.699997 and range: 245.70 m.
2025-01-08T17:27:12.202Z,1736357232.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:12.212Z,1736357232.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.70 m.
2025-01-08T17:27:12.214Z,1736357232.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.699997 m,
      nav range: 200.615005 m,
      bearing: 270.165367 deg,
      approach rate: -0.659638 m/s,
      LOS rate: 0.002276 deg/s,
      cmd heading: 266.957780 deg,
      new cmd heading: 266.960511 deg.

2025-01-08T17:27:12.216Z,1736357232.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659340 target range: 245.699997 and range: 245.70 m.
2025-01-08T17:27:12.651Z,1736357232.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:12.658Z,1736357232.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:12.661Z,1736357232.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.70 m.
2025-01-08T17:27:12.664Z,1736357232.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.699997 m,
      nav range: 200.292679 m,
      bearing: 270.167164 deg,
      approach rate: -0.717188 m/s,
      LOS rate: 0.004005 deg/s,
      cmd heading: 266.960512 deg,
      new cmd heading: 266.965912 deg.

2025-01-08T17:27:12.665Z,1736357232.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659434 target range: 245.699997 and range: 245.70 m.
2025-01-08T17:27:12.886Z,1736357232.886 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:27:12.886Z,1736357232.886 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:27:12.886Z,1736357232.886 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:27:13.022Z,1736357233.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:13.030Z,1736357233.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.70 m.
2025-01-08T17:27:13.033Z,1736357233.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.699997 m,
      nav range: 200.026367 m,
      bearing: 270.168589 deg,
      approach rate: -0.720997 m/s,
      LOS rate: 0.003863 deg/s,
      cmd heading: 266.965921 deg,
      new cmd heading: 266.970202 deg.

2025-01-08T17:27:13.034Z,1736357233.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659509 target range: 245.699997 and range: 245.70 m.
2025-01-08T17:27:13.136Z,1736357233.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250053
2025-01-08T17:27:13.389Z,1736357233.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502537
2025-01-08T17:27:13.461Z,1736357233.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:13.469Z,1736357233.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.70 m.
2025-01-08T17:27:13.472Z,1736357233.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.699997 m,
      nav range: 199.694611 m,
      bearing: 270.168920 deg,
      approach rate: -0.755751 m/s,
      LOS rate: 0.000755 deg/s,
      cmd heading: 266.970211 deg,
      new cmd heading: 266.971204 deg.

2025-01-08T17:27:13.473Z,1736357233.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659526 target range: 245.699997 and range: 245.70 m.
2025-01-08T17:27:13.640Z,1736357233.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754135
2025-01-08T17:27:13.856Z,1736357233.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:13.873Z,1736357233.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.70 m.
2025-01-08T17:27:13.893Z,1736357233.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006963
2025-01-08T17:27:13.900Z,1736357233.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.699997 m,
      nav range: 199.395111 m,
      bearing: 270.169265 deg,
      approach rate: -0.741883 m/s,
      LOS rate: 0.000857 deg/s,
      cmd heading: 266.971194 deg,
      new cmd heading: 266.972232 deg.

2025-01-08T17:27:13.901Z,1736357233.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659544 target range: 245.699997 and range: 245.70 m.
2025-01-08T17:27:14.145Z,1736357234.145 [DAT](INFO): DAT read: Rx Time:17:27:12.8139

2025-01-08T17:27:14.145Z,1736357234.145 [DAT](INFO): Rx dataTimestamp_ set to:1736357234.144729
2025-01-08T17:27:14.146Z,1736357234.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259425
2025-01-08T17:27:14.378Z,1736357234.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:14.388Z,1736357234.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.70 m.
2025-01-08T17:27:14.391Z,1736357234.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.699997 m,
      nav range: 198.989899 m,
      bearing: 270.168467 deg,
      approach rate: -0.786652 m/s,
      LOS rate: -0.001553 deg/s,
      cmd heading: 266.972232 deg,
      new cmd heading: 266.969833 deg.

2025-01-08T17:27:14.392Z,1736357234.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659503 target range: 245.699997 and range: 245.70 m.
2025-01-08T17:27:14.396Z,1736357234.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510313
2025-01-08T17:27:14.658Z,1736357234.658 [DAT](INFO): DAT read: 17:27:12.8139 LVL= 19024, 25585, 22994, 27635, AGC= 63, IDX= 408,-0.21, 2.852, 1.667, 2.796, 1.949, PHS= 0.991,-0.235, 0.844, RAW= 143.7, -26.0, CAL= 148.2, -32.1, ROT=   1.8,  32.1

2025-01-08T17:27:14.661Z,1736357234.661 [DAT](INFO): got valid direction response:
 17:27:12.8139 LVL= 19024, 25585, 22994, 27635, AGC= 63, IDX= 408,-0.21, 2.852, 1.667, 2.796, 1.949, PHS= 0.991,-0.235, 0.844, RAW= 143.7, -26.0, CAL= 148.2, -32.1, ROT=   1.8,  32.1

2025-01-08T17:27:14.663Z,1736357234.663 [DAT](INFO): DAT read: Bearing   1.8,  32.1 (Local)

2025-01-08T17:27:14.664Z,1736357234.664 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.8,  32.1 (Local)

2025-01-08T17:27:14.668Z,1736357234.668 [DAT](INFO): DAT read: Range 10 to 50 : 243.4 m  (Round-trip  324.6 ms) speed  0.0 m/s

2025-01-08T17:27:14.670Z,1736357234.670 [DAT](INFO): DAT read: user:157>

2025-01-08T17:27:14.672Z,1736357234.672 [DAT](INFO): DAT read: Tx time:17:27:13.9352

2025-01-08T17:27:14.672Z,1736357234.672 [DAT](INFO): Ping request sent.
2025-01-08T17:27:14.673Z,1736357234.673 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:27:14.673Z,1736357234.673 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:27:14.675Z,1736357234.675 [DAT](INFO): direction in FSK: [0.846704,0.026609,-0.531399]
2025-01-08T17:27:14.676Z,1736357234.676 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:14.676Z,1736357234.676 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:14.706Z,1736357234.706 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:14.706Z,1736357234.706 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:14.756Z,1736357234.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:14.805Z,1736357234.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 243.399994 m,
      deltaT: 3.780086 s,
      deltaX: -2.300003 m,
      approachRate: -0.608453 m/s,
      rangeRepo size: 4

2025-01-08T17:27:14.808Z,1736357234.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 243.399994 m,
      bearing: 273.587500 deg,
      lat: 36.904132 deg,
      lon: -122.119086 deg,
      deltaT: 3.780086 s,
      deltaX: -2.300003 m,
      approachRate: -0.608453 m/s,
      posRepo size: 4

2025-01-08T17:27:14.809Z,1736357234.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-01-08T17:27:14.833Z,1736357234.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.399994 m,
      nav range: 200.380005 m,
      bearing: 271.302832 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001553 deg/s,
      cmd heading: 266.969828 deg,
      new cmd heading: 266.967889 deg.

2025-01-08T17:27:14.834Z,1736357234.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659469 target range: 243.399994 and range: 243.40 m.
2025-01-08T17:27:14.901Z,1736357234.901 [DAT](INFO): DAT read: TxSync time:17:27:13.9344

2025-01-08T17:27:15.144Z,1736357235.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:15.161Z,1736357235.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:15.163Z,1736357235.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-01-08T17:27:15.169Z,1736357235.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.399994 m,
      nav range: 200.078476 m,
      bearing: 271.304118 deg,
      approach rate: -0.841622 m/s,
      LOS rate: 0.003595 deg/s,
      cmd heading: 266.967888 deg,
      new cmd heading: 266.971752 deg.

2025-01-08T17:27:15.170Z,1736357235.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659536 target range: 243.399994 and range: 243.40 m.
2025-01-08T17:27:15.404Z,1736357235.404 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:27:15.404Z,1736357235.404 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:27:15.404Z,1736357235.404 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:27:15.560Z,1736357235.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:15.569Z,1736357235.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-01-08T17:27:15.572Z,1736357235.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.399994 m,
      nav range: 199.751831 m,
      bearing: 271.307140 deg,
      approach rate: -0.803517 m/s,
      LOS rate: 0.007445 deg/s,
      cmd heading: 266.971741 deg,
      new cmd heading: 266.980821 deg.

2025-01-08T17:27:15.573Z,1736357235.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659694 target range: 243.399994 and range: 243.40 m.
2025-01-08T17:27:15.658Z,1736357235.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.985482
2025-01-08T17:27:15.908Z,1736357235.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236139
2025-01-08T17:27:15.951Z,1736357235.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:15.959Z,1736357235.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-01-08T17:27:15.962Z,1736357235.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.399994 m,
      nav range: 199.445160 m,
      bearing: 271.309985 deg,
      approach rate: -0.786889 m/s,
      LOS rate: 0.007314 deg/s,
      cmd heading: 266.980811 deg,
      new cmd heading: 266.989362 deg.

2025-01-08T17:27:15.963Z,1736357235.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659843 target range: 243.399994 and range: 243.40 m.
2025-01-08T17:27:16.161Z,1736357236.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488406
2025-01-08T17:27:16.411Z,1736357236.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:16.413Z,1736357236.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740338
2025-01-08T17:27:16.421Z,1736357236.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-01-08T17:27:16.424Z,1736357236.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.399994 m,
      nav range: 199.092010 m,
      bearing: 271.310855 deg,
      approach rate: -0.764201 m/s,
      LOS rate: 0.001884 deg/s,
      cmd heading: 266.989363 deg,
      new cmd heading: 266.991975 deg.

2025-01-08T17:27:16.425Z,1736357236.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659889 target range: 243.399994 and range: 243.40 m.
2025-01-08T17:27:16.665Z,1736357236.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992291
2025-01-08T17:27:16.744Z,1736357236.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:16.753Z,1736357236.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-01-08T17:27:16.756Z,1736357236.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.399994 m,
      nav range: 198.835831 m,
      bearing: 271.311476 deg,
      approach rate: -0.771080 m/s,
      LOS rate: 0.001873 deg/s,
      cmd heading: 266.991985 deg,
      new cmd heading: 266.993852 deg.

2025-01-08T17:27:16.757Z,1736357236.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659922 target range: 243.399994 and range: 243.40 m.
2025-01-08T17:27:16.917Z,1736357236.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245019
2025-01-08T17:27:17.155Z,1736357237.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:17.162Z,1736357237.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:17.165Z,1736357237.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-01-08T17:27:17.168Z,1736357237.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496138
2025-01-08T17:27:17.169Z,1736357237.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.399994 m,
      nav range: 198.520294 m,
      bearing: 271.312211 deg,
      approach rate: -0.766079 m/s,
      LOS rate: 0.001786 deg/s,
      cmd heading: 266.993843 deg,
      new cmd heading: 266.996050 deg.

2025-01-08T17:27:17.171Z,1736357237.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659960 target range: 243.399994 and range: 243.40 m.
2025-01-08T17:27:17.421Z,1736357237.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748827
2025-01-08T17:27:17.569Z,1736357237.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:17.578Z,1736357237.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-01-08T17:27:17.581Z,1736357237.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.399994 m,
      nav range: 198.214600 m,
      bearing: 271.310670 deg,
      approach rate: -0.740125 m/s,
      LOS rate: -0.003735 deg/s,
      cmd heading: 266.996056 deg,
      new cmd heading: 266.991429 deg.

2025-01-08T17:27:17.582Z,1736357237.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659880 target range: 243.399994 and range: 243.40 m.
2025-01-08T17:27:17.674Z,1736357237.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001359
2025-01-08T17:27:17.924Z,1736357237.924 [DAT](INFO): DAT read: Rx Time:17:27:16.6358

2025-01-08T17:27:17.925Z,1736357237.925 [DAT](INFO): Rx dataTimestamp_ set to:1736357237.924435
2025-01-08T17:27:17.926Z,1736357237.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253045
2025-01-08T17:27:17.973Z,1736357237.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:17.985Z,1736357237.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-01-08T17:27:17.996Z,1736357237.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.399994 m,
      nav range: 197.915482 m,
      bearing: 271.309112 deg,
      approach rate: -0.734820 m/s,
      LOS rate: -0.003835 deg/s,
      cmd heading: 266.991439 deg,
      new cmd heading: 266.986755 deg.

2025-01-08T17:27:17.997Z,1736357237.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659798 target range: 243.399994 and range: 243.40 m.
2025-01-08T17:27:18.177Z,1736357238.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504773
2025-01-08T17:27:18.434Z,1736357238.434 [DAT](INFO): DAT read: 17:27:16.6358 LVL= 21408, 30641, 17170, 21187, AGC= 62, IDX= 152,-0.24, 2.180, 1.045, 2.438, 1.105, PHS= 1.163,-0.013, 1.330, RAW= 156.6, -34.7, CAL= 158.2, -40.2, ROT= 351.8,  40.2

2025-01-08T17:27:18.435Z,1736357238.435 [DAT](INFO): got valid direction response:
 17:27:16.6358 LVL= 21408, 30641, 17170, 21187, AGC= 62, IDX= 152,-0.24, 2.180, 1.045, 2.438, 1.105, PHS= 1.163,-0.013, 1.330, RAW= 156.6, -34.7, CAL= 158.2, -40.2, ROT= 351.8,  40.2

2025-01-08T17:27:18.436Z,1736357238.436 [DAT](INFO): DAT read: Bearing 351.8,  40.2 (Local)

2025-01-08T17:27:18.437Z,1736357238.437 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.8,  40.2 (Local)

2025-01-08T17:27:18.438Z,1736357238.438 [DAT](INFO): DAT read: Range 10 to 50 : 222.3 m  (Round-trip  296.4 ms) speed  0.0 m/s

2025-01-08T17:27:18.439Z,1736357238.439 [DAT](INFO): DAT read: user:158>

2025-01-08T17:27:18.440Z,1736357238.440 [DAT](INFO): DAT read: Tx time:17:27:17.7352

2025-01-08T17:27:18.440Z,1736357238.440 [DAT](INFO): Ping request sent.
2025-01-08T17:27:18.440Z,1736357238.440 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:27:18.441Z,1736357238.441 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:27:18.442Z,1736357238.442 [DAT](INFO): direction in FSK: [0.755987,-0.108940,-0.645458]
2025-01-08T17:27:18.442Z,1736357238.442 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:18.443Z,1736357238.443 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:18.461Z,1736357238.461 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:18.462Z,1736357238.462 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:18.486Z,1736357238.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:18.522Z,1736357238.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 222.300003 m,
 deltaT: 3.780062 s,
 deltaX: -21.099991 m,
 approachRate: -5.581917 m/s,
 rangeRepo size: 4
2025-01-08T17:27:18.527Z,1736357238.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-01-08T17:27:18.530Z,1736357238.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.399994 m,
      nav range: 197.552582 m,
      bearing: 271.306420 deg,
      approach rate: -0.676267 m/s,
      LOS rate: -0.005024 deg/s,
      cmd heading: 266.986767 deg,
      new cmd heading: 266.978679 deg.

2025-01-08T17:27:18.536Z,1736357238.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659657 target range: 243.399994 and range: 243.40 m.
2025-01-08T17:27:18.680Z,1736357238.680 [DAT](INFO): DAT read: TxSync time:17:27:17.7344

2025-01-08T17:27:18.834Z,1736357238.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:18.865Z,1736357238.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-01-08T17:27:18.872Z,1736357238.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.399994 m,
      nav range: 197.305481 m,
      bearing: 271.304591 deg,
      approach rate: -0.719023 m/s,
      LOS rate: -0.005330 deg/s,
      cmd heading: 266.978680 deg,
      new cmd heading: 266.973185 deg.

2025-01-08T17:27:18.873Z,1736357238.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659561 target range: 243.399994 and range: 243.40 m.
2025-01-08T17:27:19.241Z,1736357239.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:19.249Z,1736357239.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:19.252Z,1736357239.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-01-08T17:27:19.254Z,1736357239.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.399994 m,
      nav range: 197.017365 m,
      bearing: 271.302627 deg,
      approach rate: -0.746423 m/s,
      LOS rate: -0.005094 deg/s,
      cmd heading: 266.973189 deg,
      new cmd heading: 266.967290 deg.

2025-01-08T17:27:19.256Z,1736357239.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659458 target range: 243.399994 and range: 243.40 m.
2025-01-08T17:27:19.436Z,1736357239.436 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:27:19.436Z,1736357239.436 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:27:19.436Z,1736357239.436 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:27:19.661Z,1736357239.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:19.670Z,1736357239.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-01-08T17:27:19.674Z,1736357239.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.399994 m,
      nav range: 196.739853 m,
      bearing: 271.300826 deg,
      approach rate: -0.662990 m/s,
      LOS rate: -0.004310 deg/s,
      cmd heading: 266.967287 deg,
      new cmd heading: 266.961875 deg.

2025-01-08T17:27:19.676Z,1736357239.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659364 target range: 243.399994 and range: 243.40 m.
2025-01-08T17:27:19.689Z,1736357239.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248637
2025-01-08T17:27:19.941Z,1736357239.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500369
2025-01-08T17:27:20.044Z,1736357240.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:20.052Z,1736357240.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-01-08T17:27:20.054Z,1736357240.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.399994 m,
      nav range: 196.486984 m,
      bearing: 271.299215 deg,
      approach rate: -0.662857 m/s,
      LOS rate: -0.004228 deg/s,
      cmd heading: 266.961878 deg,
      new cmd heading: 266.957039 deg.

2025-01-08T17:27:20.072Z,1736357240.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659279 target range: 243.399994 and range: 243.40 m.
2025-01-08T17:27:20.195Z,1736357240.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754392
2025-01-08T17:27:20.444Z,1736357240.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004060
2025-01-08T17:27:20.473Z,1736357240.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:20.482Z,1736357240.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-01-08T17:27:20.505Z,1736357240.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.399994 m,
      nav range: 196.217041 m,
      bearing: 271.298535 deg,
      approach rate: -0.626750 m/s,
      LOS rate: -0.001582 deg/s,
      cmd heading: 266.957042 deg,
      new cmd heading: 266.954998 deg.

2025-01-08T17:27:20.506Z,1736357240.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659244 target range: 243.399994 and range: 243.40 m.
2025-01-08T17:27:20.697Z,1736357240.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256224
2025-01-08T17:27:20.861Z,1736357240.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:20.874Z,1736357240.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-01-08T17:27:20.878Z,1736357240.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.399994 m,
      nav range: 195.972931 m,
      bearing: 271.297788 deg,
      approach rate: -0.623138 m/s,
      LOS rate: -0.001908 deg/s,
      cmd heading: 266.954993 deg,
      new cmd heading: 266.952751 deg.

2025-01-08T17:27:20.879Z,1736357240.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659204 target range: 243.399994 and range: 243.40 m.
2025-01-08T17:27:20.951Z,1736357240.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510407
2025-01-08T17:27:21.206Z,1736357241.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765783
2025-01-08T17:27:21.261Z,1736357241.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:21.268Z,1736357241.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:21.270Z,1736357241.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-01-08T17:27:21.273Z,1736357241.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.399994 m,
      nav range: 195.721680 m,
      bearing: 271.296969 deg,
      approach rate: -0.634119 m/s,
      LOS rate: -0.002070 deg/s,
      cmd heading: 266.952753 deg,
      new cmd heading: 266.950293 deg.

2025-01-08T17:27:21.274Z,1736357241.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659162 target range: 243.399994 and range: 243.40 m.
2025-01-08T17:27:21.456Z,1736357241.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016164
2025-01-08T17:27:21.710Z,1736357241.710 [DAT](INFO): DAT read: Rx Time:17:27:20.4595

2025-01-08T17:27:21.710Z,1736357241.710 [DAT](INFO): Rx dataTimestamp_ set to:1736357241.709861
2025-01-08T17:27:21.711Z,1736357241.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270514
2025-01-08T17:27:21.721Z,1736357241.721 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:21.734Z,1736357241.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-01-08T17:27:21.741Z,1736357241.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.399994 m,
      nav range: 195.447006 m,
      bearing: 271.297704 deg,
      approach rate: -0.592472 m/s,
      LOS rate: 0.001587 deg/s,
      cmd heading: 266.950294 deg,
      new cmd heading: 266.952501 deg.

2025-01-08T17:27:21.742Z,1736357241.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659200 target range: 243.399994 and range: 243.40 m.
2025-01-08T17:27:21.961Z,1736357241.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520386
2025-01-08T17:27:22.068Z,1736357242.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:22.077Z,1736357242.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-01-08T17:27:22.080Z,1736357242.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.399994 m,
      nav range: 195.239014 m,
      bearing: 271.298263 deg,
      approach rate: -0.606661 m/s,
      LOS rate: 0.001631 deg/s,
      cmd heading: 266.952507 deg,
      new cmd heading: 266.954184 deg.

2025-01-08T17:27:22.081Z,1736357242.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659229 target range: 243.399994 and range: 243.40 m.
2025-01-08T17:27:22.218Z,1736357242.218 [DAT](INFO): DAT read: 17:27:20.4595 LVL= 20656, 22417, 22322, 28067, AGC= 68, IDX= 188, 0.04, 3.088, 1.927, 3.053, 2.203, PHS= 0.972,-0.229, 0.847, RAW= 144.5, -26.2, CAL= 149.0, -32.3, ROT=   1.0,  32.3

2025-01-08T17:27:22.222Z,1736357242.222 [DAT](INFO): got valid direction response:
 17:27:20.4595 LVL= 20656, 22417, 22322, 28067, AGC= 68, IDX= 188, 0.04, 3.088, 1.927, 3.053, 2.203, PHS= 0.972,-0.229, 0.847, RAW= 144.5, -26.2, CAL= 149.0, -32.3, ROT=   1.0,  32.3

2025-01-08T17:27:22.224Z,1736357242.224 [DAT](INFO): DAT read: Bearing   1.0,  32.3 (Local)

2025-01-08T17:27:22.225Z,1736357242.225 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.0,  32.3 (Local)

2025-01-08T17:27:22.230Z,1736357242.230 [DAT](INFO): DAT read: Range 10 to 50 : 240.1 m  (Round-trip  320.2 ms) speed  0.6 m/s

2025-01-08T17:27:22.236Z,1736357242.236 [DAT](INFO): DAT read: user:159>

2025-01-08T17:27:22.238Z,1736357242.238 [DAT](INFO): DAT read: Tx time:17:27:21.5352

2025-01-08T17:27:22.239Z,1736357242.239 [DAT](INFO): Ping request sent.
2025-01-08T17:27:22.239Z,1736357242.239 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:27:22.244Z,1736357242.244 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:27:22.246Z,1736357242.246 [DAT](INFO): direction in FSK: [0.845133,0.014752,-0.534352]
2025-01-08T17:27:22.247Z,1736357242.247 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:22.247Z,1736357242.247 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:22.261Z,1736357242.261 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:22.261Z,1736357242.261 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:22.464Z,1736357242.464 [DAT](INFO): DAT read: TxSync time:17:27:21.5345

2025-01-08T17:27:22.577Z,1736357242.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:22.611Z,1736357242.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 240.100006 m,
      deltaT: 7.564075 s,
      deltaX: -3.299988 m,
      approachRate: -0.436271 m/s,
      rangeRepo size: 4

2025-01-08T17:27:22.617Z,1736357242.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 240.100006 m,
      bearing: 272.564995 deg,
      lat: 36.904175 deg,
      lon: -122.119086 deg,
      deltaT: 7.564075 s,
      deltaX: -3.299988 m,
      approachRate: -0.436271 m/s,
      posRepo size: 4

2025-01-08T17:27:22.618Z,1736357242.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.10 m.
2025-01-08T17:27:22.625Z,1736357242.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.100006 m,
      nav range: 195.111191 m,
      bearing: 272.697240 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001631 deg/s,
      cmd heading: 266.954173 deg,
      new cmd heading: 266.956777 deg.

2025-01-08T17:27:22.632Z,1736357242.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659275 target range: 240.100006 and range: 240.10 m.
2025-01-08T17:27:22.958Z,1736357242.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:22.968Z,1736357242.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.10 m.
2025-01-08T17:27:22.971Z,1736357242.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.100006 m,
      nav range: 194.890503 m,
      bearing: 272.700722 deg,
      approach rate: -0.615826 m/s,
      LOS rate: 0.009727 deg/s,
      cmd heading: 266.956769 deg,
      new cmd heading: 266.967226 deg.

2025-01-08T17:27:22.972Z,1736357242.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659457 target range: 240.100006 and range: 240.10 m.
2025-01-08T17:27:23.355Z,1736357243.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:23.362Z,1736357243.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:23.365Z,1736357243.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.10 m.
2025-01-08T17:27:23.368Z,1736357243.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.100006 m,
      nav range: 194.661194 m,
      bearing: 272.704369 deg,
      approach rate: -0.576769 m/s,
      LOS rate: 0.009183 deg/s,
      cmd heading: 266.967233 deg,
      new cmd heading: 266.978186 deg.

2025-01-08T17:27:23.388Z,1736357243.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659648 target range: 240.100006 and range: 240.10 m.
2025-01-08T17:27:23.475Z,1736357243.475 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:27:23.475Z,1736357243.475 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:27:23.478Z,1736357243.478 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:27:23.724Z,1736357243.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485726
2025-01-08T17:27:23.790Z,1736357243.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:23.820Z,1736357243.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.10 m.
2025-01-08T17:27:23.828Z,1736357243.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.100006 m,
      nav range: 194.416473 m,
      bearing: 272.710200 deg,
      approach rate: -0.537024 m/s,
      LOS rate: 0.012814 deg/s,
      cmd heading: 266.978188 deg,
      new cmd heading: 266.995706 deg.

2025-01-08T17:27:23.829Z,1736357243.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659954 target range: 240.100006 and range: 240.10 m.
2025-01-08T17:27:23.978Z,1736357243.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739134
2025-01-08T17:27:24.179Z,1736357244.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:24.188Z,1736357244.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.10 m.
2025-01-08T17:27:24.190Z,1736357244.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.100006 m,
      nav range: 194.197586 m,
      bearing: 272.715219 deg,
      approach rate: -0.596412 m/s,
      LOS rate: 0.013690 deg/s,
      cmd heading: 266.995701 deg,
      new cmd heading: 267.010774 deg.

2025-01-08T17:27:24.192Z,1736357244.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660217 target range: 240.100006 and range: 240.10 m.
2025-01-08T17:27:24.229Z,1736357244.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990560
2025-01-08T17:27:24.488Z,1736357244.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244415
2025-01-08T17:27:24.604Z,1736357244.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:24.614Z,1736357244.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.10 m.
2025-01-08T17:27:24.617Z,1736357244.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.100006 m,
      nav range: 193.953049 m,
      bearing: 272.722514 deg,
      approach rate: -0.573141 m/s,
      LOS rate: 0.017120 deg/s,
      cmd heading: 267.010782 deg,
      new cmd heading: 267.032695 deg.

2025-01-08T17:27:24.618Z,1736357244.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660600 target range: 240.100006 and range: 240.10 m.
2025-01-08T17:27:24.733Z,1736357244.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494570
2025-01-08T17:27:24.972Z,1736357244.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:24.982Z,1736357244.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.10 m.
2025-01-08T17:27:24.984Z,1736357244.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745911
2025-01-08T17:27:25.000Z,1736357245.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.100006 m,
      nav range: 193.741989 m,
      bearing: 272.728607 deg,
      approach rate: -0.574424 m/s,
      LOS rate: 0.016600 deg/s,
      cmd heading: 267.032693 deg,
      new cmd heading: 267.050991 deg.

2025-01-08T17:27:25.001Z,1736357245.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660919 target range: 240.100006 and range: 240.10 m.
2025-01-08T17:27:25.238Z,1736357245.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999227
2025-01-08T17:27:25.375Z,1736357245.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:25.404Z,1736357245.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:25.406Z,1736357245.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.10 m.
2025-01-08T17:27:25.422Z,1736357245.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.100006 m,
      nav range: 193.509720 m,
      bearing: 272.735240 deg,
      approach rate: -0.547094 m/s,
      LOS rate: 0.015642 deg/s,
      cmd heading: 267.050998 deg,
      new cmd heading: 267.070921 deg.

2025-01-08T17:27:25.430Z,1736357245.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.661267 target range: 240.100006 and range: 240.10 m.
2025-01-08T17:27:25.488Z,1736357245.488 [DAT](INFO): DAT read: Rx Time:17:27:24.2557

2025-01-08T17:27:25.489Z,1736357245.489 [DAT](INFO): Rx dataTimestamp_ set to:1736357245.488640
2025-01-08T17:27:25.504Z,1736357245.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265118
2025-01-08T17:27:25.741Z,1736357245.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502413
2025-01-08T17:27:25.807Z,1736357245.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:25.817Z,1736357245.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.10 m.
2025-01-08T17:27:25.820Z,1736357245.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.100006 m,
      nav range: 193.248901 m,
      bearing: 272.743319 deg,
      approach rate: -0.634973 m/s,
      LOS rate: 0.019695 deg/s,
      cmd heading: 267.070915 deg,
      new cmd heading: 267.095184 deg.

2025-01-08T17:27:25.821Z,1736357245.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.661690 target range: 240.100006 and range: 240.10 m.
2025-01-08T17:27:26.006Z,1736357246.006 [DAT](INFO): DAT read: 17:27:24.2557 LVL= 22576, 29409, 21890, 28339, AGC= 65, IDX= 403,-0.32,-0.417,-1.780,-0.449,-1.411, PHS= 1.081,-0.322, 0.958, RAW= 145.5, -24.3, CAL= 150.1, -30.8, ROT= 359.9,  30.8

2025-01-08T17:27:26.007Z,1736357246.007 [DAT](INFO): got valid direction response:
 17:27:24.2557 LVL= 22576, 29409, 21890, 28339, AGC= 65, IDX= 403,-0.32,-0.417,-1.780,-0.449,-1.411, PHS= 1.081,-0.322, 0.958, RAW= 145.5, -24.3, CAL= 150.1, -30.8, ROT= 359.9,  30.8

2025-01-08T17:27:26.012Z,1736357246.012 [DAT](INFO): DAT read: Bearing 359.9,  30.8 (Local)

2025-01-08T17:27:26.012Z,1736357246.012 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.9,  30.8 (Local)

2025-01-08T17:27:26.014Z,1736357246.014 [DAT](INFO): DAT read: Range 10 to 50 : 237.2 m  (Round-trip  316.3 ms) speed  0.9 m/s

2025-01-08T17:27:26.015Z,1736357246.015 [DAT](INFO): DAT read: user:160>

2025-01-08T17:27:26.027Z,1736357246.027 [DAT](INFO): DAT read: Tx time:17:27:25.3353

2025-01-08T17:27:26.028Z,1736357246.028 [DAT](INFO): Ping request sent.
2025-01-08T17:27:26.028Z,1736357246.028 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:27:26.028Z,1736357246.028 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:27:26.029Z,1736357246.029 [DAT](INFO): direction in FSK: [0.858959,-0.001499,-0.512043]
2025-01-08T17:27:26.030Z,1736357246.030 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:26.030Z,1736357246.030 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:26.079Z,1736357246.079 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:26.079Z,1736357246.079 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:26.222Z,1736357246.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:26.245Z,1736357246.245 [DAT](INFO): DAT read: TxSync time:17:27:25.3345

2025-01-08T17:27:26.272Z,1736357246.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 237.199997 m,
      deltaT: 3.781718 s,
      deltaX: -2.900009 m,
      approachRate: -0.766850 m/s,
      rangeRepo size: 4

2025-01-08T17:27:26.274Z,1736357246.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 237.199997 m,
      bearing: 271.778964 deg,
      lat: 36.904175 deg,
      lon: -122.119165 deg,
      deltaT: 3.781718 s,
      deltaX: -2.900009 m,
      approachRate: -0.766850 m/s,
      posRepo size: 4

2025-01-08T17:27:26.279Z,1736357246.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.20 m.
2025-01-08T17:27:26.282Z,1736357246.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.199997 m,
      nav range: 199.972061 m,
      bearing: 272.655073 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019695 deg/s,
      cmd heading: 267.095176 deg,
      new cmd heading: 267.121554 deg.

2025-01-08T17:27:26.283Z,1736357246.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.662150 target range: 237.199997 and range: 237.20 m.
2025-01-08T17:27:26.621Z,1736357246.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:26.630Z,1736357246.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.20 m.
2025-01-08T17:27:26.633Z,1736357246.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.199997 m,
      nav range: 199.717361 m,
      bearing: 272.661064 deg,
      approach rate: -0.694046 m/s,
      LOS rate: 0.016346 deg/s,
      cmd heading: 267.121540 deg,
      new cmd heading: 267.139536 deg.

2025-01-08T17:27:26.634Z,1736357246.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.662465 target range: 237.199997 and range: 237.20 m.
2025-01-08T17:27:26.987Z,1736357246.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:27.008Z,1736357247.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.20 m.
2025-01-08T17:27:27.012Z,1736357247.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.199997 m,
      nav range: 199.483444 m,
      bearing: 272.666620 deg,
      approach rate: -0.618729 m/s,
      LOS rate: 0.014714 deg/s,
      cmd heading: 267.139545 deg,
      new cmd heading: 267.156233 deg.

2025-01-08T17:27:27.013Z,1736357247.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.662756 target range: 237.199997 and range: 237.20 m.
2025-01-08T17:27:27.400Z,1736357247.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:27.407Z,1736357247.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:27.411Z,1736357247.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.20 m.
2025-01-08T17:27:27.414Z,1736357247.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.199997 m,
      nav range: 199.219360 m,
      bearing: 272.672856 deg,
      approach rate: -0.655469 m/s,
      LOS rate: 0.015497 deg/s,
      cmd heading: 267.156238 deg,
      new cmd heading: 267.174969 deg.

2025-01-08T17:27:27.415Z,1736357247.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.663083 target range: 237.199997 and range: 237.20 m.
2025-01-08T17:27:27.506Z,1736357247.506 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:27:27.507Z,1736357247.507 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:27:27.508Z,1736357247.508 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:27:27.756Z,1736357247.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728553
2025-01-08T17:27:27.822Z,1736357247.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:27.832Z,1736357247.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.20 m.
2025-01-08T17:27:27.835Z,1736357247.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.199997 m,
      nav range: 198.924088 m,
      bearing: 272.678704 deg,
      approach rate: -0.701307 m/s,
      LOS rate: 0.013912 deg/s,
      cmd heading: 267.174980 deg,
      new cmd heading: 267.192552 deg.

2025-01-08T17:27:27.852Z,1736357247.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.663390 target range: 237.199997 and range: 237.20 m.
2025-01-08T17:27:28.009Z,1736357248.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980512
2025-01-08T17:27:28.224Z,1736357248.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:28.236Z,1736357248.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.20 m.
2025-01-08T17:27:28.238Z,1736357248.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.199997 m,
      nav range: 198.642960 m,
      bearing: 272.684176 deg,
      approach rate: -0.697174 m/s,
      LOS rate: 0.013590 deg/s,
      cmd heading: 267.192547 deg,
      new cmd heading: 267.208987 deg.

2025-01-08T17:27:28.244Z,1736357248.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.663677 target range: 237.199997 and range: 237.20 m.
2025-01-08T17:27:28.260Z,1736357248.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232342
2025-01-08T17:27:28.516Z,1736357248.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487633
2025-01-08T17:27:28.637Z,1736357248.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:28.647Z,1736357248.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.20 m.
2025-01-08T17:27:28.670Z,1736357248.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.199997 m,
      nav range: 198.329025 m,
      bearing: 272.690104 deg,
      approach rate: -0.763390 m/s,
      LOS rate: 0.014437 deg/s,
      cmd heading: 267.208994 deg,
      new cmd heading: 267.226805 deg.

2025-01-08T17:27:28.671Z,1736357248.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.663988 target range: 237.199997 and range: 237.20 m.
2025-01-08T17:27:28.765Z,1736357248.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737174
2025-01-08T17:27:29.016Z,1736357249.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988230
2025-01-08T17:27:29.025Z,1736357249.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:29.034Z,1736357249.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.20 m.
2025-01-08T17:27:29.037Z,1736357249.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.199997 m,
      nav range: 198.034286 m,
      bearing: 272.695686 deg,
      approach rate: -0.760204 m/s,
      LOS rate: 0.014420 deg/s,
      cmd heading: 267.226807 deg,
      new cmd heading: 267.243579 deg.

2025-01-08T17:27:29.038Z,1736357249.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664280 target range: 237.199997 and range: 237.20 m.
2025-01-08T17:27:29.268Z,1736357249.268 [DAT](INFO): DAT read: Rx Time:17:27:28.0520

2025-01-08T17:27:29.269Z,1736357249.269 [DAT](INFO): Rx dataTimestamp_ set to:1736357249.268467
2025-01-08T17:27:29.269Z,1736357249.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241401
2025-01-08T17:27:29.421Z,1736357249.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:29.428Z,1736357249.428 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:29.430Z,1736357249.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.20 m.
2025-01-08T17:27:29.433Z,1736357249.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 237.199997 m,
      nav range: 197.733658 m,
      bearing: 272.701505 deg,
      approach rate: -0.759058 m/s,
      LOS rate: 0.014714 deg/s,
      cmd heading: 267.243582 deg,
      new cmd heading: 267.261065 deg.

2025-01-08T17:27:29.434Z,1736357249.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664586 target range: 237.199997 and range: 237.20 m.
2025-01-08T17:27:29.524Z,1736357249.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495504
2025-01-08T17:27:29.815Z,1736357249.815 [DAT](INFO): DAT read: 17:27:28.0520 LVL= 22464, 32753, 24786, 32755, AGC= 60, IDX= 397,-0.33,-0.819,-1.886,-0.779,-1.854, PHS= 1.123, 0.015, 1.072, RAW= 147.6, -35.8, CAL= 150.1, -40.1, ROT= 359.9,  40.1

2025-01-08T17:27:29.816Z,1736357249.816 [DAT](INFO): got valid direction response:
 17:27:28.0520 LVL= 22464, 32753, 24786, 32755, AGC= 60, IDX= 397,-0.33,-0.819,-1.886,-0.779,-1.854, PHS= 1.123, 0.015, 1.072, RAW= 147.6, -35.8, CAL= 150.1, -40.1, ROT= 359.9,  40.1

2025-01-08T17:27:29.817Z,1736357249.817 [DAT](INFO): DAT read: Bearing 359.9,  40.1 (Local)

2025-01-08T17:27:29.818Z,1736357249.818 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.9,  40.1 (Local)

2025-01-08T17:27:29.824Z,1736357249.824 [DAT](INFO): DAT read: Range 10 to 50 : 234.3 m  (Round-trip  312.5 ms) speed  0.4 m/s

2025-01-08T17:27:29.824Z,1736357249.824 [DAT](INFO): DAT read: user:161>

2025-01-08T17:27:29.826Z,1736357249.826 [DAT](INFO): DAT read: Tx time:17:27:29.1353

2025-01-08T17:27:29.826Z,1736357249.826 [DAT](INFO): Ping request sent.
2025-01-08T17:27:29.826Z,1736357249.826 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:27:29.827Z,1736357249.827 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:27:29.844Z,1736357249.844 [DAT](INFO): direction in FSK: [0.764920,-0.001335,-0.644124]
2025-01-08T17:27:29.844Z,1736357249.844 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:29.844Z,1736357249.844 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:29.860Z,1736357249.860 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:29.860Z,1736357249.860 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:29.905Z,1736357249.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:29.935Z,1736357249.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 234.300003 m,
      deltaT: 3.779695 s,
      deltaX: -2.899994 m,
      approachRate: -0.767256 m/s,
      rangeRepo size: 4

2025-01-08T17:27:29.941Z,1736357249.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 234.300003 m,
      bearing: 273.640557 deg,
      lat: 36.904175 deg,
      lon: -122.119165 deg,
      deltaT: 3.779695 s,
      deltaX: -2.899994 m,
      approachRate: -0.767256 m/s,
      posRepo size: 4

2025-01-08T17:27:29.942Z,1736357249.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.30 m.
2025-01-08T17:27:29.953Z,1736357249.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.300003 m,
      nav range: 197.348190 m,
      bearing: 272.707196 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014714 deg/s,
      cmd heading: 267.261068 deg,
      new cmd heading: 267.283293 deg.

2025-01-08T17:27:29.954Z,1736357249.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664974 target range: 234.300003 and range: 234.30 m.
2025-01-08T17:27:30.026Z,1736357250.026 [DAT](INFO): DAT read: TxSync time:17:27:29.1345

2025-01-08T17:27:30.267Z,1736357250.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:30.276Z,1736357250.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.30 m.
2025-01-08T17:27:30.279Z,1736357250.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.300003 m,
      nav range: 197.059799 m,
      bearing: 272.711669 deg,
      approach rate: -0.845476 m/s,
      LOS rate: 0.013131 deg/s,
      cmd heading: 267.283307 deg,
      new cmd heading: 267.296744 deg.

2025-01-08T17:27:30.280Z,1736357250.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665208 target range: 234.300003 and range: 234.30 m.
2025-01-08T17:27:30.667Z,1736357250.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:30.707Z,1736357250.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.30 m.
2025-01-08T17:27:30.716Z,1736357250.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.300003 m,
      nav range: 196.729767 m,
      bearing: 272.715488 deg,
      approach rate: -0.771926 m/s,
      LOS rate: 0.008948 deg/s,
      cmd heading: 267.296748 deg,
      new cmd heading: 267.308225 deg.

2025-01-08T17:27:30.718Z,1736357250.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665409 target range: 234.300003 and range: 234.30 m.
2025-01-08T17:27:31.077Z,1736357251.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:31.085Z,1736357251.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.30 m.
2025-01-08T17:27:31.105Z,1736357251.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.300003 m,
      nav range: 196.391815 m,
      bearing: 272.719412 deg,
      approach rate: -0.882915 m/s,
      LOS rate: 0.010270 deg/s,
      cmd heading: 267.308223 deg,
      new cmd heading: 267.320017 deg.

2025-01-08T17:27:31.106Z,1736357251.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665615 target range: 234.300003 and range: 234.30 m.
2025-01-08T17:27:31.452Z,1736357251.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:31.458Z,1736357251.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:31.461Z,1736357251.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.30 m.
2025-01-08T17:27:31.464Z,1736357251.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.300003 m,
      nav range: 196.083252 m,
      bearing: 272.723739 deg,
      approach rate: -0.821512 m/s,
      LOS rate: 0.011538 deg/s,
      cmd heading: 267.320026 deg,
      new cmd heading: 267.333027 deg.

2025-01-08T17:27:31.465Z,1736357251.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665842 target range: 234.300003 and range: 234.30 m.
2025-01-08T17:27:31.540Z,1736357251.540 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:27:31.540Z,1736357251.540 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:27:31.541Z,1736357251.541 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:27:31.788Z,1736357251.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.961953
2025-01-08T17:27:31.880Z,1736357251.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:31.888Z,1736357251.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.30 m.
2025-01-08T17:27:31.891Z,1736357251.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.300003 m,
      nav range: 195.731262 m,
      bearing: 272.728261 deg,
      approach rate: -0.823925 m/s,
      LOS rate: 0.010604 deg/s,
      cmd heading: 267.333030 deg,
      new cmd heading: 267.346621 deg.

2025-01-08T17:27:31.913Z,1736357251.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666079 target range: 234.300003 and range: 234.30 m.
2025-01-08T17:27:32.040Z,1736357252.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214070
2025-01-08T17:27:32.271Z,1736357252.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:32.287Z,1736357252.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.30 m.
2025-01-08T17:27:32.290Z,1736357252.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.300003 m,
      nav range: 195.410294 m,
      bearing: 272.732435 deg,
      approach rate: -0.806338 m/s,
      LOS rate: 0.010503 deg/s,
      cmd heading: 267.346609 deg,
      new cmd heading: 267.359151 deg.

2025-01-08T17:27:32.293Z,1736357252.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466146
2025-01-08T17:27:32.294Z,1736357252.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666297 target range: 234.300003 and range: 234.30 m.
2025-01-08T17:27:32.547Z,1736357252.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720393
2025-01-08T17:27:32.687Z,1736357252.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:32.733Z,1736357252.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.30 m.
2025-01-08T17:27:32.740Z,1736357252.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.300003 m,
      nav range: 195.090729 m,
      bearing: 272.737217 deg,
      approach rate: -0.715400 m/s,
      LOS rate: 0.010723 deg/s,
      cmd heading: 267.359149 deg,
      new cmd heading: 267.373519 deg.

2025-01-08T17:27:32.741Z,1736357252.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666548 target range: 234.300003 and range: 234.30 m.
2025-01-08T17:27:32.796Z,1736357252.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970096
2025-01-08T17:27:33.048Z,1736357253.048 [DAT](INFO): DAT read: Rx Time:17:27:31.8234

2025-01-08T17:27:33.049Z,1736357253.049 [DAT](INFO): Rx dataTimestamp_ set to:1736357253.048543
2025-01-08T17:27:33.049Z,1736357253.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223092
2025-01-08T17:27:33.100Z,1736357253.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:33.117Z,1736357253.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.30 m.
2025-01-08T17:27:33.124Z,1736357253.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.300003 m,
      nav range: 194.792023 m,
      bearing: 272.741714 deg,
      approach rate: -0.777526 m/s,
      LOS rate: 0.011723 deg/s,
      cmd heading: 267.373520 deg,
      new cmd heading: 267.387031 deg.

2025-01-08T17:27:33.126Z,1736357253.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666784 target range: 234.300003 and range: 234.30 m.
2025-01-08T17:27:33.302Z,1736357253.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475712
2025-01-08T17:27:33.471Z,1736357253.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:33.478Z,1736357253.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:33.480Z,1736357253.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.30 m.
2025-01-08T17:27:33.483Z,1736357253.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.300003 m,
      nav range: 194.488037 m,
      bearing: 272.746332 deg,
      approach rate: -0.837594 m/s,
      LOS rate: 0.012743 deg/s,
      cmd heading: 267.387044 deg,
      new cmd heading: 267.400918 deg.

2025-01-08T17:27:33.484Z,1736357253.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667027 target range: 234.300003 and range: 234.30 m.
2025-01-08T17:27:33.560Z,1736357253.560 [DAT](INFO): DAT read: Range 10 to 50 : 212.9 m  (Round-trip  283.9 ms) speed  0.6 m/s

2025-01-08T17:27:33.564Z,1736357253.564 [DAT](INFO): DAT read: user:162>

2025-01-08T17:27:33.567Z,1736357253.567 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:27:33.576Z,1736357253.576 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:27:33.577Z,1736357253.577 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:27:33.578Z,1736357253.578 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:27:33.612Z,1736357253.612 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:27:33.805Z,1736357253.805 [DAT](INFO): DAT read: Tx time:17:27:32.9370

2025-01-08T17:27:33.805Z,1736357253.805 [DAT](INFO): Ping request sent.
2025-01-08T17:27:33.805Z,1736357253.805 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:27:33.806Z,1736357253.806 [DAT](INFO): DAT read: TxSync time:17:27:32.9362

2025-01-08T17:27:33.806Z,1736357253.806 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:33.807Z,1736357253.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001573
2025-01-08T17:27:33.956Z,1736357253.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:33.966Z,1736357253.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 212.899994 m,
 deltaT: 3.780369 s,
 deltaX: -21.400009 m,
 approachRate: -5.660825 m/s,
 rangeRepo size: 4
2025-01-08T17:27:33.967Z,1736357253.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.30 m.
2025-01-08T17:27:33.970Z,1736357253.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.300003 m,
      nav range: 194.140472 m,
      bearing: 272.750862 deg,
      approach rate: -0.715896 m/s,
      LOS rate: 0.009348 deg/s,
      cmd heading: 267.400922 deg,
      new cmd heading: 267.414537 deg.

2025-01-08T17:27:33.971Z,1736357253.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667264 target range: 234.300003 and range: 234.30 m.
2025-01-08T17:27:34.059Z,1736357254.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253396
2025-01-08T17:27:34.278Z,1736357254.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:34.302Z,1736357254.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.30 m.
2025-01-08T17:27:34.310Z,1736357254.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.300003 m,
      nav range: 193.910263 m,
      bearing: 272.753837 deg,
      approach rate: -0.684198 m/s,
      LOS rate: 0.008852 deg/s,
      cmd heading: 267.414528 deg,
      new cmd heading: 267.423463 deg.

2025-01-08T17:27:34.314Z,1736357254.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.508407
2025-01-08T17:27:34.316Z,1736357254.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667420 target range: 234.300003 and range: 234.30 m.
2025-01-08T17:27:34.564Z,1736357254.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759374
2025-01-08T17:27:34.617Z,1736357254.617 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:27:34.729Z,1736357254.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:34.742Z,1736357254.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.30 m.
2025-01-08T17:27:34.749Z,1736357254.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.300003 m,
      nav range: 193.625153 m,
      bearing: 272.758492 deg,
      approach rate: -0.648721 m/s,
      LOS rate: 0.010608 deg/s,
      cmd heading: 267.423462 deg,
      new cmd heading: 267.437449 deg.

2025-01-08T17:27:34.750Z,1736357254.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667664 target range: 234.300003 and range: 234.30 m.
2025-01-08T17:27:34.818Z,1736357254.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.012783
2025-01-08T17:27:35.068Z,1736357255.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263295
2025-01-08T17:27:35.089Z,1736357255.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:35.114Z,1736357255.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.30 m.
2025-01-08T17:27:35.123Z,1736357255.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.300003 m,
      nav range: 193.397263 m,
      bearing: 272.762207 deg,
      approach rate: -0.611598 m/s,
      LOS rate: 0.009982 deg/s,
      cmd heading: 267.437450 deg,
      new cmd heading: 267.448609 deg.

2025-01-08T17:27:35.128Z,1736357255.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667859 target range: 234.300003 and range: 234.30 m.
2025-01-08T17:27:35.320Z,1736357255.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515100
2025-01-08T17:27:35.496Z,1736357255.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:35.503Z,1736357255.503 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:35.505Z,1736357255.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.30 m.
2025-01-08T17:27:35.508Z,1736357255.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.300003 m,
      nav range: 193.140106 m,
      bearing: 272.766206 deg,
      approach rate: -0.657879 m/s,
      LOS rate: 0.010243 deg/s,
      cmd heading: 267.448597 deg,
      new cmd heading: 267.460609 deg.

2025-01-08T17:27:35.510Z,1736357255.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668068 target range: 234.300003 and range: 234.30 m.
2025-01-08T17:27:35.576Z,1736357255.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770565
2025-01-08T17:27:35.824Z,1736357255.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019170
2025-01-08T17:27:35.938Z,1736357255.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:35.947Z,1736357255.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.30 m.
2025-01-08T17:27:35.950Z,1736357255.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.300003 m,
      nav range: 192.889954 m,
      bearing: 272.770741 deg,
      approach rate: -0.565905 m/s,
      LOS rate: 0.010272 deg/s,
      cmd heading: 267.460618 deg,
      new cmd heading: 267.474240 deg.

2025-01-08T17:27:35.951Z,1736357255.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668306 target range: 234.300003 and range: 234.30 m.
2025-01-08T17:27:36.077Z,1736357256.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271928
2025-01-08T17:27:36.326Z,1736357256.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:36.328Z,1736357256.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523399
2025-01-08T17:27:36.336Z,1736357256.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.30 m.
2025-01-08T17:27:36.339Z,1736357256.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.300003 m,
      nav range: 192.669724 m,
      bearing: 272.774506 deg,
      approach rate: -0.565866 m/s,
      LOS rate: 0.009686 deg/s,
      cmd heading: 267.474251 deg,
      new cmd heading: 267.485561 deg.

2025-01-08T17:27:36.340Z,1736357256.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668504 target range: 234.300003 and range: 234.30 m.
2025-01-08T17:27:36.584Z,1736357256.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778745
2025-01-08T17:27:36.745Z,1736357256.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:36.754Z,1736357256.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.30 m.
2025-01-08T17:27:36.773Z,1736357256.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.300003 m,
      nav range: 192.450531 m,
      bearing: 272.778410 deg,
      approach rate: -0.524919 m/s,
      LOS rate: 0.009361 deg/s,
      cmd heading: 267.485562 deg,
      new cmd heading: 267.497289 deg.

2025-01-08T17:27:36.774Z,1736357256.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668708 target range: 234.300003 and range: 234.30 m.
2025-01-08T17:27:36.834Z,1736357256.834 [DAT](INFO): DAT read: Rx Time:17:27:35.6497

2025-01-08T17:27:36.834Z,1736357256.834 [DAT](INFO): Rx dataTimestamp_ set to:1736357256.833782
2025-01-08T17:27:36.836Z,1736357256.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029945
2025-01-08T17:27:37.084Z,1736357257.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279245
2025-01-08T17:27:37.140Z,1736357257.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:37.150Z,1736357257.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.30 m.
2025-01-08T17:27:37.153Z,1736357257.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.300003 m,
      nav range: 192.243790 m,
      bearing: 272.782101 deg,
      approach rate: -0.522461 m/s,
      LOS rate: 0.009337 deg/s,
      cmd heading: 267.497283 deg,
      new cmd heading: 267.508367 deg.

2025-01-08T17:27:37.154Z,1736357257.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668902 target range: 234.300003 and range: 234.30 m.
2025-01-08T17:27:37.339Z,1736357257.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533492
2025-01-08T17:27:37.520Z,1736357257.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:37.544Z,1736357257.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:37.546Z,1736357257.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 234.30 m.
2025-01-08T17:27:37.557Z,1736357257.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 234.300003 m,
      nav range: 192.045013 m,
      bearing: 272.785256 deg,
      approach rate: -0.501513 m/s,
      LOS rate: 0.007967 deg/s,
      cmd heading: 267.508375 deg,
      new cmd heading: 267.517849 deg.

2025-01-08T17:27:37.558Z,1736357257.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669067 target range: 234.300003 and range: 234.30 m.
2025-01-08T17:27:37.597Z,1736357257.597 [DAT](INFO): DAT read: 17:27:35.6497 LVL= 23840, 25297, 22722, 29491, AGC= 66, IDX= 179, 0.50, 2.992, 1.678, 3.049, 2.121, PHS= 0.959,-0.396, 0.925, RAW= 148.7, -21.5, CAL= 153.8, -28.4, ROT= 356.2,  28.4

2025-01-08T17:27:37.600Z,1736357257.600 [DAT](INFO): got valid direction response:
 17:27:35.6497 LVL= 23840, 25297, 22722, 29491, AGC= 66, IDX= 179, 0.50, 2.992, 1.678, 3.049, 2.121, PHS= 0.959,-0.396, 0.925, RAW= 148.7, -21.5, CAL= 153.8, -28.4, ROT= 356.2,  28.4

2025-01-08T17:27:37.604Z,1736357257.604 [DAT](INFO): DAT read: Bearing 356.2,  28.4 (Local)

2025-01-08T17:27:37.605Z,1736357257.605 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.2,  28.4 (Local)

2025-01-08T17:27:37.639Z,1736357257.639 [DAT](INFO): DAT read: Range 10 to 50 : 231.3 m  (Round-trip  308.5 ms) speed  0.8 m/s

2025-01-08T17:27:37.642Z,1736357257.642 [DAT](INFO): DAT read: user:163>

2025-01-08T17:27:37.668Z,1736357257.668 [DAT](INFO): DAT read: Tx time:17:27:36.7354

2025-01-08T17:27:37.668Z,1736357257.668 [DAT](INFO): Ping request sent.
2025-01-08T17:27:37.668Z,1736357257.668 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:27:37.669Z,1736357257.669 [DAT](INFO): DAT read: TxSync time:17:27:36.7346

2025-01-08T17:27:37.669Z,1736357257.669 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:27:37.670Z,1736357257.670 [DAT](INFO): direction in FSK: [0.877715,-0.058297,-0.475624]
2025-01-08T17:27:37.671Z,1736357257.671 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:37.671Z,1736357257.671 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:37.707Z,1736357257.707 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:37.709Z,1736357257.709 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:37.993Z,1736357257.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:38.007Z,1736357258.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 231.300003 m,
      deltaT: 7.814738 s,
      deltaX: -3.000000 m,
      approachRate: -0.383890 m/s,
      rangeRepo size: 4

2025-01-08T17:27:38.010Z,1736357258.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 231.300003 m,
      bearing: 268.259779 deg,
      lat: 36.904149 deg,
      lon: -122.119199 deg,
      deltaT: 7.814738 s,
      deltaX: -3.000000 m,
      approachRate: -0.383890 m/s,
      posRepo size: 4

2025-01-08T17:27:38.011Z,1736357258.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.30 m.
2025-01-08T17:27:38.016Z,1736357258.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.300003 m,
      nav range: 194.718414 m,
      bearing: 271.896976 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007967 deg/s,
      cmd heading: 267.517855 deg,
      new cmd heading: 267.528859 deg.

2025-01-08T17:27:38.017Z,1736357258.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669260 target range: 231.300003 and range: 231.30 m.
2025-01-08T17:27:38.355Z,1736357258.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:38.393Z,1736357258.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.30 m.
2025-01-08T17:27:38.401Z,1736357258.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.300003 m,
      nav range: 194.536880 m,
      bearing: 271.899233 deg,
      approach rate: -0.469913 m/s,
      LOS rate: 0.005848 deg/s,
      cmd heading: 267.528866 deg,
      new cmd heading: 267.535643 deg.

2025-01-08T17:27:38.402Z,1736357258.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669378 target range: 231.300003 and range: 231.30 m.
2025-01-08T17:27:38.774Z,1736357258.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:38.822Z,1736357258.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.30 m.
2025-01-08T17:27:38.829Z,1736357258.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.300003 m,
      nav range: 194.318604 m,
      bearing: 271.901322 deg,
      approach rate: -0.516519 m/s,
      LOS rate: 0.004949 deg/s,
      cmd heading: 267.535641 deg,
      new cmd heading: 267.541915 deg.

2025-01-08T17:27:38.830Z,1736357258.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669487 target range: 231.300003 and range: 231.30 m.
2025-01-08T17:27:39.154Z,1736357259.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:39.164Z,1736357259.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.30 m.
2025-01-08T17:27:39.168Z,1736357259.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.300003 m,
      nav range: 194.121063 m,
      bearing: 271.902966 deg,
      approach rate: -0.565478 m/s,
      LOS rate: 0.004713 deg/s,
      cmd heading: 267.541925 deg,
      new cmd heading: 267.546864 deg.

2025-01-08T17:27:39.169Z,1736357259.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669574 target range: 231.300003 and range: 231.30 m.
2025-01-08T17:27:39.556Z,1736357259.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:39.565Z,1736357259.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:39.567Z,1736357259.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.30 m.
2025-01-08T17:27:39.570Z,1736357259.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.300003 m,
      nav range: 193.911743 m,
      bearing: 271.904456 deg,
      approach rate: -0.520386 m/s,
      LOS rate: 0.003707 deg/s,
      cmd heading: 267.546870 deg,
      new cmd heading: 267.551343 deg.

2025-01-08T17:27:39.571Z,1736357259.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669652 target range: 231.300003 and range: 231.30 m.
2025-01-08T17:27:39.604Z,1736357259.604 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:27:39.604Z,1736357259.604 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:27:39.604Z,1736357259.604 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:27:39.858Z,1736357259.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.189823
2025-01-08T17:27:39.995Z,1736357259.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:40.004Z,1736357260.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.30 m.
2025-01-08T17:27:40.007Z,1736357260.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.300003 m,
      nav range: 193.657318 m,
      bearing: 271.905904 deg,
      approach rate: -0.581914 m/s,
      LOS rate: 0.003317 deg/s,
      cmd heading: 267.551351 deg,
      new cmd heading: 267.555702 deg.

2025-01-08T17:27:40.008Z,1736357260.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669728 target range: 231.300003 and range: 231.30 m.
2025-01-08T17:27:40.110Z,1736357260.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.440871
2025-01-08T17:27:40.360Z,1736357260.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.692011
2025-01-08T17:27:40.388Z,1736357260.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:40.396Z,1736357260.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.30 m.
2025-01-08T17:27:40.398Z,1736357260.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.300003 m,
      nav range: 193.429855 m,
      bearing: 271.907151 deg,
      approach rate: -0.580498 m/s,
      LOS rate: 0.003186 deg/s,
      cmd heading: 267.555695 deg,
      new cmd heading: 267.559440 deg.

2025-01-08T17:27:40.400Z,1736357260.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669793 target range: 231.300003 and range: 231.30 m.
2025-01-08T17:27:40.616Z,1736357260.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.947559
2025-01-08T17:27:40.805Z,1736357260.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:40.818Z,1736357260.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.30 m.
2025-01-08T17:27:40.826Z,1736357260.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.300003 m,
      nav range: 193.148605 m,
      bearing: 271.908429 deg,
      approach rate: -0.665469 m/s,
      LOS rate: 0.003028 deg/s,
      cmd heading: 267.559437 deg,
      new cmd heading: 267.563277 deg.

2025-01-08T17:27:40.832Z,1736357260.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669860 target range: 231.300003 and range: 231.30 m.
2025-01-08T17:27:40.864Z,1736357260.864 [DAT](INFO): DAT read: Rx Time:17:27:39.4437

2025-01-08T17:27:40.865Z,1736357260.865 [DAT](INFO): Rx dataTimestamp_ set to:1736357260.864675
2025-01-08T17:27:40.865Z,1736357260.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.197203
2025-01-08T17:27:41.116Z,1736357261.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.447954
2025-01-08T17:27:41.203Z,1736357261.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:41.213Z,1736357261.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.30 m.
2025-01-08T17:27:41.224Z,1736357261.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 231.300003 m,
      nav range: 192.880478 m,
      bearing: 271.909784 deg,
      approach rate: -0.679413 m/s,
      LOS rate: 0.003439 deg/s,
      cmd heading: 267.563290 deg,
      new cmd heading: 267.567361 deg.

2025-01-08T17:27:41.226Z,1736357261.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669931 target range: 231.300003 and range: 231.30 m.
2025-01-08T17:27:41.375Z,1736357261.375 [DAT](INFO): DAT read: 17:27:39.4437 LVL= 26032, 26913, 24050, 27507, AGC= 62, IDX= 391,-0.14,-1.569,-2.760,-1.563,-2.529, PHS= 1.049,-0.184, 0.963, RAW= 146.4, -28.5, CAL= 150.3, -34.1, ROT= 359.7,  34.1

2025-01-08T17:27:41.376Z,1736357261.376 [DAT](INFO): got valid direction response:
 17:27:39.4437 LVL= 26032, 26913, 24050, 27507, AGC= 62, IDX= 391,-0.14,-1.569,-2.760,-1.563,-2.529, PHS= 1.049,-0.184, 0.963, RAW= 146.4, -28.5, CAL= 150.3, -34.1, ROT= 359.7,  34.1

2025-01-08T17:27:41.377Z,1736357261.377 [DAT](INFO): DAT read: Bearing 359.7,  34.1 (Local)

2025-01-08T17:27:41.377Z,1736357261.377 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.7,  34.1 (Local)

2025-01-08T17:27:41.379Z,1736357261.379 [DAT](INFO): DAT read: Range 10 to 50 : 228.0 m  (Round-trip  304.1 ms) speed  0.4 m/s

2025-01-08T17:27:41.380Z,1736357261.380 [DAT](INFO): DAT read: user:164>

2025-01-08T17:27:41.381Z,1736357261.381 [DAT](INFO): DAT read: Tx time:17:27:40.5354

2025-01-08T17:27:41.381Z,1736357261.381 [DAT](INFO): Ping request sent.
2025-01-08T17:27:41.381Z,1736357261.381 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:27:41.382Z,1736357261.382 [DAT](INFO): DAT read: TxSync time:17:27:40.5346

2025-01-08T17:27:41.382Z,1736357261.382 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:27:41.384Z,1736357261.384 [DAT](INFO): direction in FSK: [0.828049,-0.004336,-0.560639]
2025-01-08T17:27:41.384Z,1736357261.384 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:41.384Z,1736357261.384 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:41.387Z,1736357261.387 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:41.388Z,1736357261.388 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:41.584Z,1736357261.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:41.615Z,1736357261.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 228.000000 m,
      deltaT: 3.779941 s,
      deltaX: -3.300003 m,
      approachRate: -0.873030 m/s,
      rangeRepo size: 4

2025-01-08T17:27:41.617Z,1736357261.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 228.000000 m,
      bearing: 273.403341 deg,
      lat: 36.904175 deg,
      lon: -122.119199 deg,
      deltaT: 3.779941 s,
      deltaX: -3.300003 m,
      approachRate: -0.873030 m/s,
      posRepo size: 4

2025-01-08T17:27:41.618Z,1736357261.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.00 m.
2025-01-08T17:27:41.625Z,1736357261.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.000000 m,
      nav range: 192.741913 m,
      bearing: 272.769729 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003439 deg/s,
      cmd heading: 267.567361 deg,
      new cmd heading: 267.571458 deg.

2025-01-08T17:27:41.627Z,1736357261.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670003 target range: 228.000000 and range: 228.00 m.
2025-01-08T17:27:42.016Z,1736357262.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:42.024Z,1736357262.024 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:42.026Z,1736357262.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.00 m.
2025-01-08T17:27:42.029Z,1736357262.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.000000 m,
      nav range: 192.413773 m,
      bearing: 272.773164 deg,
      approach rate: -0.788564 m/s,
      LOS rate: 0.008268 deg/s,
      cmd heading: 267.571459 deg,
      new cmd heading: 267.581781 deg.

2025-01-08T17:27:42.030Z,1736357262.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670183 target range: 228.000000 and range: 228.00 m.
2025-01-08T17:27:42.126Z,1736357262.126 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:27:42.126Z,1736357262.126 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:27:42.126Z,1736357262.126 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:27:42.377Z,1736357262.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995985
2025-01-08T17:27:42.394Z,1736357262.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:42.402Z,1736357262.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.00 m.
2025-01-08T17:27:42.405Z,1736357262.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.000000 m,
      nav range: 192.127701 m,
      bearing: 272.776555 deg,
      approach rate: -0.761745 m/s,
      LOS rate: 0.009043 deg/s,
      cmd heading: 267.581786 deg,
      new cmd heading: 267.591975 deg.

2025-01-08T17:27:42.406Z,1736357262.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670361 target range: 228.000000 and range: 228.00 m.
2025-01-08T17:27:42.628Z,1736357262.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247260
2025-01-08T17:27:42.822Z,1736357262.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:42.833Z,1736357262.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.00 m.
2025-01-08T17:27:42.836Z,1736357262.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.000000 m,
      nav range: 191.774414 m,
      bearing: 272.780328 deg,
      approach rate: -0.820020 m/s,
      LOS rate: 0.008774 deg/s,
      cmd heading: 267.591977 deg,
      new cmd heading: 267.603317 deg.

2025-01-08T17:27:42.837Z,1736357262.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670559 target range: 228.000000 and range: 228.00 m.
2025-01-08T17:27:42.883Z,1736357262.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500921
2025-01-08T17:27:43.132Z,1736357263.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751143
2025-01-08T17:27:43.205Z,1736357263.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:43.215Z,1736357263.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.00 m.
2025-01-08T17:27:43.218Z,1736357263.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.000000 m,
      nav range: 191.458649 m,
      bearing: 272.784015 deg,
      approach rate: -0.826570 m/s,
      LOS rate: 0.009669 deg/s,
      cmd heading: 267.603315 deg,
      new cmd heading: 267.614396 deg.

2025-01-08T17:27:43.219Z,1736357263.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670753 target range: 228.000000 and range: 228.00 m.
2025-01-08T17:27:43.385Z,1736357263.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003751
2025-01-08T17:27:43.623Z,1736357263.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:43.633Z,1736357263.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.00 m.
2025-01-08T17:27:43.636Z,1736357263.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255190
2025-01-08T17:27:43.637Z,1736357263.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.000000 m,
      nav range: 191.114212 m,
      bearing: 272.788393 deg,
      approach rate: -0.823962 m/s,
      LOS rate: 0.010491 deg/s,
      cmd heading: 267.614407 deg,
      new cmd heading: 267.627563 deg.

2025-01-08T17:27:43.638Z,1736357263.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670982 target range: 228.000000 and range: 228.00 m.
2025-01-08T17:27:43.888Z,1736357263.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507153
2025-01-08T17:27:44.053Z,1736357264.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:44.061Z,1736357264.061 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:44.063Z,1736357264.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.00 m.
2025-01-08T17:27:44.066Z,1736357264.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.000000 m,
      nav range: 190.745575 m,
      bearing: 272.793415 deg,
      approach rate: -0.856744 m/s,
      LOS rate: 0.011694 deg/s,
      cmd heading: 267.627575 deg,
      new cmd heading: 267.642671 deg.

2025-01-08T17:27:44.067Z,1736357264.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671246 target range: 228.000000 and range: 228.00 m.
2025-01-08T17:27:44.141Z,1736357264.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759329
2025-01-08T17:27:44.394Z,1736357264.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012454
2025-01-08T17:27:44.488Z,1736357264.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:44.505Z,1736357264.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.00 m.
2025-01-08T17:27:44.507Z,1736357264.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.000000 m,
      nav range: 190.372345 m,
      bearing: 272.798910 deg,
      approach rate: -0.845427 m/s,
      LOS rate: 0.012472 deg/s,
      cmd heading: 267.642684 deg,
      new cmd heading: 267.659202 deg.

2025-01-08T17:27:44.508Z,1736357264.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671535 target range: 228.000000 and range: 228.00 m.
2025-01-08T17:27:44.644Z,1736357264.644 [DAT](INFO): DAT read: Rx Time:17:27:43.2416

2025-01-08T17:27:44.645Z,1736357264.645 [DAT](INFO): Rx dataTimestamp_ set to:1736357264.644613
2025-01-08T17:27:44.645Z,1736357264.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264254
2025-01-08T17:27:44.896Z,1736357264.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515130
2025-01-08T17:27:45.015Z,1736357265.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:45.024Z,1736357265.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.00 m.
2025-01-08T17:27:45.027Z,1736357265.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 228.000000 m,
      nav range: 189.917999 m,
      bearing: 272.807444 deg,
      approach rate: -0.875150 m/s,
      LOS rate: 0.016476 deg/s,
      cmd heading: 267.659213 deg,
      new cmd heading: 267.684874 deg.

2025-01-08T17:27:45.029Z,1736357265.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671982 target range: 228.000000 and range: 228.00 m.
2025-01-08T17:27:45.162Z,1736357265.162 [DAT](INFO): DAT read: 17:27:43.2416 LVL= 24464, 24209, 21842, 26611, AGC= 62, IDX= 424,-0.39,-1.898,-2.804,-1.754,-2.796, PHS= 0.986, 0.040, 1.040, RAW= 152.7, -36.9, CAL= 155.0, -41.1, ROT= 355.0,  41.1

2025-01-08T17:27:45.166Z,1736357265.166 [DAT](INFO): got valid direction response:
 17:27:43.2416 LVL= 24464, 24209, 21842, 26611, AGC= 62, IDX= 424,-0.39,-1.898,-2.804,-1.754,-2.796, PHS= 0.986, 0.040, 1.040, RAW= 152.7, -36.9, CAL= 155.0, -41.1, ROT= 355.0,  41.1

2025-01-08T17:27:45.168Z,1736357265.168 [DAT](INFO): DAT read: Bearing 355.0,  41.1 (Local)

2025-01-08T17:27:45.168Z,1736357265.168 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.0,  41.1 (Local)

2025-01-08T17:27:45.170Z,1736357265.170 [DAT](INFO): DAT read: Range 10 to 50 : 226.4 m  (Round-trip  301.9 ms) speed  0.0 m/s

2025-01-08T17:27:45.170Z,1736357265.170 [DAT](INFO): DAT read: user:165>

2025-01-08T17:27:45.177Z,1736357265.177 [DAT](INFO): DAT read: Tx time:17:27:44.3355

2025-01-08T17:27:45.178Z,1736357265.178 [DAT](INFO): Ping request sent.
2025-01-08T17:27:45.178Z,1736357265.178 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:27:45.178Z,1736357265.178 [DAT](INFO): DAT read: TxSync time:17:27:44.3347

2025-01-08T17:27:45.183Z,1736357265.183 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:27:45.184Z,1736357265.184 [DAT](INFO): direction in FSK: [0.750696,-0.065677,-0.657375]
2025-01-08T17:27:45.185Z,1736357265.185 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:45.185Z,1736357265.185 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:45.193Z,1736357265.193 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:45.193Z,1736357265.193 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:45.333Z,1736357265.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:45.374Z,1736357265.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 226.399994 m,
      deltaT: 3.780466 s,
      deltaX: -1.600006 m,
      approachRate: -0.423230 m/s,
      rangeRepo size: 4

2025-01-08T17:27:45.389Z,1736357265.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 226.399994 m,
      bearing: 267.827576 deg,
      lat: 36.904149 deg,
      lon: -122.119175 deg,
      deltaT: 3.780466 s,
      deltaX: -1.600006 m,
      approachRate: -0.423230 m/s,
      posRepo size: 4

2025-01-08T17:27:45.389Z,1736357265.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.40 m.
2025-01-08T17:27:45.401Z,1736357265.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.399994 m,
      nav range: 187.385071 m,
      bearing: 271.962508 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016476 deg/s,
      cmd heading: 267.684867 deg,
      new cmd heading: 267.702170 deg.

2025-01-08T17:27:45.402Z,1736357265.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.672284 target range: 226.399994 and range: 226.40 m.
2025-01-08T17:27:45.790Z,1736357265.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:45.800Z,1736357265.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.40 m.
2025-01-08T17:27:45.803Z,1736357265.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.399994 m,
      nav range: 186.990692 m,
      bearing: 271.968882 deg,
      approach rate: -0.927112 m/s,
      LOS rate: 0.015014 deg/s,
      cmd heading: 267.702161 deg,
      new cmd heading: 267.721322 deg.

2025-01-08T17:27:45.812Z,1736357265.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.672618 target range: 226.399994 and range: 226.40 m.
2025-01-08T17:27:46.207Z,1736357266.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:46.224Z,1736357266.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:46.226Z,1736357266.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.40 m.
2025-01-08T17:27:46.231Z,1736357266.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.399994 m,
      nav range: 186.651260 m,
      bearing: 271.975666 deg,
      approach rate: -0.794524 m/s,
      LOS rate: 0.015910 deg/s,
      cmd heading: 267.721313 deg,
      new cmd heading: 267.741705 deg.

2025-01-08T17:27:46.232Z,1736357266.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.672974 target range: 226.399994 and range: 226.40 m.
2025-01-08T17:27:46.409Z,1736357266.409 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:27:46.409Z,1736357266.409 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:27:46.409Z,1736357266.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:27:46.542Z,1736357266.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:46.571Z,1736357266.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.40 m.
2025-01-08T17:27:46.579Z,1736357266.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.399994 m,
      nav range: 186.373337 m,
      bearing: 271.981567 deg,
      approach rate: -0.807373 m/s,
      LOS rate: 0.017166 deg/s,
      cmd heading: 267.741694 deg,
      new cmd heading: 267.759421 deg.

2025-01-08T17:27:46.585Z,1736357266.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673284 target range: 226.399994 and range: 226.40 m.
2025-01-08T17:27:46.660Z,1736357266.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482574
2025-01-08T17:27:46.913Z,1736357266.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734685
2025-01-08T17:27:46.981Z,1736357266.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:46.990Z,1736357266.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.40 m.
2025-01-08T17:27:47.010Z,1736357267.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.399994 m,
      nav range: 186.046539 m,
      bearing: 271.988829 deg,
      approach rate: -0.779336 m/s,
      LOS rate: 0.017350 deg/s,
      cmd heading: 267.759425 deg,
      new cmd heading: 267.781251 deg.

2025-01-08T17:27:47.016Z,1736357267.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673665 target range: 226.399994 and range: 226.40 m.
2025-01-08T17:27:47.164Z,1736357267.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986324
2025-01-08T17:27:47.345Z,1736357267.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:47.360Z,1736357267.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.40 m.
2025-01-08T17:27:47.368Z,1736357267.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.399994 m,
      nav range: 185.775833 m,
      bearing: 271.994713 deg,
      approach rate: -0.732442 m/s,
      LOS rate: 0.015944 deg/s,
      cmd heading: 267.781255 deg,
      new cmd heading: 267.798933 deg.

2025-01-08T17:27:47.370Z,1736357267.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673973 target range: 226.399994 and range: 226.40 m.
2025-01-08T17:27:47.416Z,1736357267.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238488
2025-01-08T17:27:47.669Z,1736357267.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490640
2025-01-08T17:27:47.776Z,1736357267.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:47.826Z,1736357267.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.40 m.
2025-01-08T17:27:47.833Z,1736357267.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.399994 m,
      nav range: 185.456619 m,
      bearing: 272.001470 deg,
      approach rate: -0.685570 m/s,
      LOS rate: 0.014538 deg/s,
      cmd heading: 267.798931 deg,
      new cmd heading: 267.819238 deg.

2025-01-08T17:27:47.834Z,1736357267.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674327 target range: 226.399994 and range: 226.40 m.
2025-01-08T17:27:47.921Z,1736357267.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743339
2025-01-08T17:27:48.172Z,1736357268.172 [DAT](INFO): DAT read: Rx Time:17:27:47.0105

2025-01-08T17:27:48.173Z,1736357268.173 [DAT](INFO): Rx dataTimestamp_ set to:1736357268.172592
2025-01-08T17:27:48.173Z,1736357268.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995578
2025-01-08T17:27:48.192Z,1736357268.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:48.202Z,1736357268.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.40 m.
2025-01-08T17:27:48.204Z,1736357268.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.399994 m,
      nav range: 185.173477 m,
      bearing: 272.007371 deg,
      approach rate: -0.752263 m/s,
      LOS rate: 0.015700 deg/s,
      cmd heading: 267.819231 deg,
      new cmd heading: 267.836959 deg.

2025-01-08T17:27:48.205Z,1736357268.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674637 target range: 226.399994 and range: 226.40 m.
2025-01-08T17:27:48.427Z,1736357268.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248934
2025-01-08T17:27:48.572Z,1736357268.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:48.582Z,1736357268.582 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:48.585Z,1736357268.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.40 m.
2025-01-08T17:27:48.587Z,1736357268.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.399994 m,
      nav range: 184.915436 m,
      bearing: 272.012127 deg,
      approach rate: -0.673612 m/s,
      LOS rate: 0.012432 deg/s,
      cmd heading: 267.836962 deg,
      new cmd heading: 267.851249 deg.

2025-01-08T17:27:48.589Z,1736357268.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674886 target range: 226.399994 and range: 226.40 m.
2025-01-08T17:27:48.682Z,1736357268.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504344
2025-01-08T17:27:48.943Z,1736357268.943 [DAT](INFO): DAT read: 17:27:47.0105 LVL= 24336, 25585, 24722, 27779, AGC= 65, IDX= 131,-0.26, 1.712, 0.816, 1.869, 0.789, PHS= 1.011, 0.074, 1.077, RAW= 153.4, -38.2, CAL= 155.8, -42.0, ROT= 354.2,  42.0

2025-01-08T17:27:48.948Z,1736357268.948 [DAT](INFO): got valid direction response:
 17:27:47.0105 LVL= 24336, 25585, 24722, 27779, AGC= 65, IDX= 131,-0.26, 1.712, 0.816, 1.869, 0.789, PHS= 1.011, 0.074, 1.077, RAW= 153.4, -38.2, CAL= 155.8, -42.0, ROT= 354.2,  42.0

2025-01-08T17:27:48.949Z,1736357268.949 [DAT](INFO): DAT read: Bearing 354.2,  42.0 (Local)

2025-01-08T17:27:48.949Z,1736357268.949 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.2,  42.0 (Local)

2025-01-08T17:27:48.951Z,1736357268.951 [DAT](INFO): DAT read: Range 10 to 50 : 203.1 m  (Round-trip  270.8 ms) speed  0.4 m/s

2025-01-08T17:27:48.952Z,1736357268.952 [DAT](INFO): DAT read: user:166>

2025-01-08T17:27:48.953Z,1736357268.953 [DAT](INFO): DAT read: Tx time:17:27:48.1355

2025-01-08T17:27:48.953Z,1736357268.953 [DAT](INFO): Ping request sent.
2025-01-08T17:27:48.953Z,1736357268.953 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:27:48.953Z,1736357268.953 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:27:48.954Z,1736357268.954 [DAT](INFO): direction in FSK: [0.739340,-0.075099,-0.669131]
2025-01-08T17:27:48.954Z,1736357268.954 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:48.955Z,1736357268.955 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:48.968Z,1736357268.968 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:48.968Z,1736357268.968 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:49.081Z,1736357269.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:49.124Z,1736357269.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 203.100006 m,
 deltaT: 3.785709 s,
 deltaX: -23.299988 m,
 approachRate: -6.154722 m/s,
 rangeRepo size: 4
2025-01-08T17:27:49.125Z,1736357269.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.40 m.
2025-01-08T17:27:49.133Z,1736357269.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.399994 m,
      nav range: 184.607803 m,
      bearing: 272.017882 deg,
      approach rate: -0.575566 m/s,
      LOS rate: 0.010785 deg/s,
      cmd heading: 267.851250 deg,
      new cmd heading: 267.868544 deg.

2025-01-08T17:27:49.134Z,1736357269.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675188 target range: 226.399994 and range: 226.40 m.
2025-01-08T17:27:49.185Z,1736357269.185 [DAT](INFO): DAT read: TxSync time:17:27:48.1347

2025-01-08T17:27:49.537Z,1736357269.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:49.545Z,1736357269.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.40 m.
2025-01-08T17:27:49.548Z,1736357269.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.399994 m,
      nav range: 184.332458 m,
      bearing: 272.023086 deg,
      approach rate: -0.646749 m/s,
      LOS rate: 0.012243 deg/s,
      cmd heading: 267.868545 deg,
      new cmd heading: 267.884182 deg.

2025-01-08T17:27:49.549Z,1736357269.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675461 target range: 226.399994 and range: 226.40 m.
2025-01-08T17:27:49.985Z,1736357269.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:49.995Z,1736357269.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.40 m.
2025-01-08T17:27:49.998Z,1736357269.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.399994 m,
      nav range: 184.080154 m,
      bearing: 272.027127 deg,
      approach rate: -0.560694 m/s,
      LOS rate: 0.008992 deg/s,
      cmd heading: 267.884172 deg,
      new cmd heading: 267.896310 deg.

2025-01-08T17:27:49.999Z,1736357269.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675673 target range: 226.399994 and range: 226.40 m.
2025-01-08T17:27:50.416Z,1736357270.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:50.428Z,1736357270.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.40 m.
2025-01-08T17:27:50.430Z,1736357270.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.399994 m,
      nav range: 183.837967 m,
      bearing: 272.030734 deg,
      approach rate: -0.560283 m/s,
      LOS rate: 0.008357 deg/s,
      cmd heading: 267.896302 deg,
      new cmd heading: 267.907139 deg.

2025-01-08T17:27:50.432Z,1736357270.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675862 target range: 226.399994 and range: 226.40 m.
2025-01-08T17:27:50.883Z,1736357270.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:50.889Z,1736357270.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:50.892Z,1736357270.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.40 m.
2025-01-08T17:27:50.895Z,1736357270.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.399994 m,
      nav range: 183.575729 m,
      bearing: 272.034208 deg,
      approach rate: -0.564852 m/s,
      LOS rate: 0.007494 deg/s,
      cmd heading: 267.907149 deg,
      new cmd heading: 267.917587 deg.

2025-01-08T17:27:50.896Z,1736357270.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676044 target range: 226.399994 and range: 226.40 m.
2025-01-08T17:27:50.949Z,1736357270.949 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:27:50.949Z,1736357270.949 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:27:50.950Z,1736357270.950 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:27:51.200Z,1736357271.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247275
2025-01-08T17:27:51.255Z,1736357271.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:51.265Z,1736357271.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.40 m.
2025-01-08T17:27:51.268Z,1736357271.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.399994 m,
      nav range: 183.377899 m,
      bearing: 272.034144 deg,
      approach rate: -0.530140 m/s,
      LOS rate: -0.000174 deg/s,
      cmd heading: 267.917585 deg,
      new cmd heading: 267.917391 deg.

2025-01-08T17:27:51.269Z,1736357271.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676041 target range: 226.399994 and range: 226.40 m.
2025-01-08T17:27:51.452Z,1736357271.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499339
2025-01-08T17:27:51.640Z,1736357271.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:51.648Z,1736357271.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.40 m.
2025-01-08T17:27:51.651Z,1736357271.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.399994 m,
      nav range: 183.173431 m,
      bearing: 272.033776 deg,
      approach rate: -0.533132 m/s,
      LOS rate: -0.000961 deg/s,
      cmd heading: 267.917394 deg,
      new cmd heading: 267.916289 deg.

2025-01-08T17:27:51.652Z,1736357271.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676022 target range: 226.399994 and range: 226.40 m.
2025-01-08T17:27:51.706Z,1736357271.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752418
2025-01-08T17:27:51.956Z,1736357271.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003550
2025-01-08T17:27:52.060Z,1736357272.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:52.085Z,1736357272.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.40 m.
2025-01-08T17:27:52.090Z,1736357272.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.399994 m,
      nav range: 182.946472 m,
      bearing: 272.031132 deg,
      approach rate: -0.519549 m/s,
      LOS rate: -0.006060 deg/s,
      cmd heading: 267.916301 deg,
      new cmd heading: 267.908360 deg.

2025-01-08T17:27:52.100Z,1736357272.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675883 target range: 226.399994 and range: 226.40 m.
2025-01-08T17:27:52.210Z,1736357272.210 [DAT](INFO): DAT read: Rx Time:17:27:50.8074

2025-01-08T17:27:52.210Z,1736357272.210 [DAT](INFO): Rx dataTimestamp_ set to:1736357272.209864
2025-01-08T17:27:52.211Z,1736357272.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257778
2025-01-08T17:27:52.437Z,1736357272.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:52.446Z,1736357272.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.40 m.
2025-01-08T17:27:52.450Z,1736357272.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.399994 m,
      nav range: 182.743256 m,
      bearing: 272.028634 deg,
      approach rate: -0.562389 m/s,
      LOS rate: -0.006920 deg/s,
      cmd heading: 267.908351 deg,
      new cmd heading: 267.900849 deg.

2025-01-08T17:27:52.451Z,1736357272.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675752 target range: 226.399994 and range: 226.40 m.
2025-01-08T17:27:52.460Z,1736357272.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507441
2025-01-08T17:27:52.723Z,1736357272.723 [DAT](INFO): DAT read: 17:27:50.8074 LVL= 27584, 32753, 24274, 32755, AGC= 63, IDX= 402, 0.26,-1.135,-2.605,-1.352,-1.730, PHS= 0.683,-0.828, 0.374, RAW= 138.9,  -3.3, CAL= 144.2, -12.8, ROT=   5.8,  12.8

2025-01-08T17:27:52.724Z,1736357272.724 [DAT](INFO): got valid direction response:
 17:27:50.8074 LVL= 27584, 32753, 24274, 32755, AGC= 63, IDX= 402, 0.26,-1.135,-2.605,-1.352,-1.730, PHS= 0.683,-0.828, 0.374, RAW= 138.9,  -3.3, CAL= 144.2, -12.8, ROT=   5.8,  12.8

2025-01-08T17:27:52.725Z,1736357272.725 [DAT](INFO): DAT read: Bearing   5.8,  12.8 (Local)

2025-01-08T17:27:52.726Z,1736357272.726 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.8,  12.8 (Local)

2025-01-08T17:27:52.727Z,1736357272.727 [DAT](INFO): DAT read: Range 10 to 50 : 200.7 m  (Round-trip  267.7 ms) speed  0.5 m/s

2025-01-08T17:27:52.728Z,1736357272.728 [DAT](INFO): DAT read: user:167>

2025-01-08T17:27:52.729Z,1736357272.729 [DAT](INFO): DAT read: Tx time:17:27:51.8855

2025-01-08T17:27:52.729Z,1736357272.729 [DAT](INFO): Ping request sent.
2025-01-08T17:27:52.729Z,1736357272.729 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:27:52.730Z,1736357272.730 [DAT](INFO): DAT read: TxSync time:17:27:51.8847

2025-01-08T17:27:52.731Z,1736357272.731 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:27:52.732Z,1736357272.732 [DAT](INFO): direction in FSK: [0.970157,0.098545,-0.221548]
2025-01-08T17:27:52.732Z,1736357272.732 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:52.732Z,1736357272.732 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:52.738Z,1736357272.738 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:52.738Z,1736357272.738 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:52.915Z,1736357272.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:52.949Z,1736357272.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 200.699997 m,
      deltaT: 7.564987 s,
      deltaX: -25.699997 m,
      approachRate: -3.397229 m/s,
      rangeRepo size: 4

2025-01-08T17:27:52.951Z,1736357272.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 200.699997 m,
      bearing: 276.370288 deg,
      lat: 36.904066 deg,
      lon: -122.119175 deg,
      deltaT: 7.564987 s,
      deltaX: -25.699997 m,
      approachRate: -3.397229 m/s,
      posRepo size: 4

2025-01-08T17:27:52.956Z,1736357272.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.70 m.
2025-01-08T17:27:52.972Z,1736357272.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.699997 m,
      nav range: 182.393341 m,
      bearing: 269.156947 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006920 deg/s,
      cmd heading: 267.900838 deg,
      new cmd heading: 267.890417 deg.

2025-01-08T17:27:52.973Z,1736357272.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675570 target range: 200.699997 and range: 200.70 m.
2025-01-08T17:27:53.305Z,1736357273.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:53.313Z,1736357273.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:53.315Z,1736357273.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.70 m.
2025-01-08T17:27:53.318Z,1736357273.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.699997 m,
      nav range: 182.164719 m,
      bearing: 269.151615 deg,
      approach rate: -0.622802 m/s,
      LOS rate: -0.014544 deg/s,
      cmd heading: 267.890428 deg,
      new cmd heading: 267.874412 deg.

2025-01-08T17:27:53.320Z,1736357273.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675291 target range: 200.699997 and range: 200.70 m.
2025-01-08T17:27:53.472Z,1736357273.472 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:27:53.472Z,1736357273.472 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:27:53.472Z,1736357273.472 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:27:53.673Z,1736357273.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:53.682Z,1736357273.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.70 m.
2025-01-08T17:27:53.706Z,1736357273.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.699997 m,
      nav range: 181.951843 m,
      bearing: 269.146675 deg,
      approach rate: -0.581409 m/s,
      LOS rate: -0.013509 deg/s,
      cmd heading: 267.874418 deg,
      new cmd heading: 267.859580 deg.

2025-01-08T17:27:53.713Z,1736357273.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675032 target range: 200.699997 and range: 200.70 m.
2025-01-08T17:27:53.725Z,1736357273.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995239
2025-01-08T17:27:53.977Z,1736357273.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247325
2025-01-08T17:27:54.088Z,1736357274.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:54.097Z,1736357274.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.70 m.
2025-01-08T17:27:54.100Z,1736357274.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.699997 m,
      nav range: 181.681152 m,
      bearing: 269.138930 deg,
      approach rate: -0.650696 m/s,
      LOS rate: -0.018645 deg/s,
      cmd heading: 267.859583 deg,
      new cmd heading: 267.836314 deg.

2025-01-08T17:27:54.101Z,1736357274.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674625 target range: 200.699997 and range: 200.70 m.
2025-01-08T17:27:54.230Z,1736357274.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500243
2025-01-08T17:27:54.473Z,1736357274.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:54.480Z,1736357274.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750989
2025-01-08T17:27:54.502Z,1736357274.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.70 m.
2025-01-08T17:27:54.510Z,1736357274.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.699997 m,
      nav range: 181.430710 m,
      bearing: 269.131655 deg,
      approach rate: -0.618832 m/s,
      LOS rate: -0.018001 deg/s,
      cmd heading: 267.836306 deg,
      new cmd heading: 267.814451 deg.

2025-01-08T17:27:54.511Z,1736357274.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674244 target range: 200.699997 and range: 200.70 m.
2025-01-08T17:27:54.732Z,1736357274.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002786
2025-01-08T17:27:54.941Z,1736357274.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:54.957Z,1736357274.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.70 m.
2025-01-08T17:27:54.965Z,1736357274.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.699997 m,
      nav range: 181.125977 m,
      bearing: 269.122792 deg,
      approach rate: -0.669576 m/s,
      LOS rate: -0.019507 deg/s,
      cmd heading: 267.814449 deg,
      new cmd heading: 267.787815 deg.

2025-01-08T17:27:54.966Z,1736357274.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673779 target range: 200.699997 and range: 200.70 m.
2025-01-08T17:27:54.984Z,1736357274.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254963
2025-01-08T17:27:55.236Z,1736357275.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506957
2025-01-08T17:27:55.323Z,1736357275.323 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:55.330Z,1736357275.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:55.349Z,1736357275.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.70 m.
2025-01-08T17:27:55.356Z,1736357275.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.699997 m,
      nav range: 180.860519 m,
      bearing: 269.117314 deg,
      approach rate: -0.678041 m/s,
      LOS rate: -0.014013 deg/s,
      cmd heading: 267.787812 deg,
      new cmd heading: 267.771353 deg.

2025-01-08T17:27:55.357Z,1736357275.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673492 target range: 200.699997 and range: 200.70 m.
2025-01-08T17:27:55.488Z,1736357275.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758955
2025-01-08T17:27:55.674Z,1736357275.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:55.709Z,1736357275.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.70 m.
2025-01-08T17:27:55.718Z,1736357275.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.699997 m,
      nav range: 180.616058 m,
      bearing: 269.112460 deg,
      approach rate: -0.678030 m/s,
      LOS rate: -0.013482 deg/s,
      cmd heading: 267.771365 deg,
      new cmd heading: 267.756782 deg.

2025-01-08T17:27:55.724Z,1736357275.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673237 target range: 200.699997 and range: 200.70 m.
2025-01-08T17:27:55.740Z,1736357275.740 [DAT](INFO): DAT read: Rx Time:17:27:54.5543

2025-01-08T17:27:55.741Z,1736357275.741 [DAT](INFO): Rx dataTimestamp_ set to:1736357275.740580
2025-01-08T17:27:55.741Z,1736357275.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011966
2025-01-08T17:27:55.993Z,1736357275.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263624
2025-01-08T17:27:56.145Z,1736357276.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:56.154Z,1736357276.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.70 m.
2025-01-08T17:27:56.157Z,1736357276.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 200.699997 m,
      nav range: 180.267487 m,
      bearing: 269.106352 deg,
      approach rate: -0.784164 m/s,
      LOS rate: -0.013767 deg/s,
      cmd heading: 267.756775 deg,
      new cmd heading: 267.738416 deg.

2025-01-08T17:27:56.158Z,1736357276.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.672917 target range: 200.699997 and range: 200.70 m.
2025-01-08T17:27:56.247Z,1736357276.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516947
2025-01-08T17:27:56.503Z,1736357276.503 [DAT](INFO): DAT read: 17:27:54.5543 LVL= 19152, 32753, 19922, 28899, AGC= 60, IDX= 402,-0.34,-2.179, 2.647,-2.361,-2.746, PHS= 0.655,-0.844, 0.382, RAW= 140.1,  -2.8, CAL= 145.3, -12.1, ROT=   4.7,  12.1

2025-01-08T17:27:56.504Z,1736357276.504 [DAT](INFO): got valid direction response:
 17:27:54.5543 LVL= 19152, 32753, 19922, 28899, AGC= 60, IDX= 402,-0.34,-2.179, 2.647,-2.361,-2.746, PHS= 0.655,-0.844, 0.382, RAW= 140.1,  -2.8, CAL= 145.3, -12.1, ROT=   4.7,  12.1

2025-01-08T17:27:56.505Z,1736357276.505 [DAT](INFO): DAT read: Bearing   4.7,  12.1 (Local)

2025-01-08T17:27:56.505Z,1736357276.505 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.7,  12.1 (Local)

2025-01-08T17:27:56.507Z,1736357276.507 [DAT](INFO): DAT read: Range 10 to 50 : 198.4 m  (Round-trip  264.6 ms) speed  0.4 m/s

2025-01-08T17:27:56.508Z,1736357276.508 [DAT](INFO): DAT read: user:168>

2025-01-08T17:27:56.509Z,1736357276.509 [DAT](INFO): DAT read: Tx time:17:27:55.6356

2025-01-08T17:27:56.510Z,1736357276.510 [DAT](INFO): Ping request sent.
2025-01-08T17:27:56.510Z,1736357276.510 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:27:56.510Z,1736357276.510 [DAT](INFO): DAT read: TxSync time:17:27:55.6348

2025-01-08T17:27:56.511Z,1736357276.511 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:27:56.521Z,1736357276.521 [DAT](INFO): direction in FSK: [0.974495,0.080118,-0.209619]
2025-01-08T17:27:56.521Z,1736357276.521 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:56.521Z,1736357276.521 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:56.532Z,1736357276.532 [DAT](INFO): publishing transmit ping time
2025-01-08T17:27:56.533Z,1736357276.533 [DAT](INFO): publishing direction and range info
2025-01-08T17:27:56.536Z,1736357276.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:56.568Z,1736357276.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 198.399994 m,
      deltaT: 3.782477 s,
      deltaX: -2.300003 m,
      approachRate: -0.608068 m/s,
      rangeRepo size: 4

2025-01-08T17:27:56.571Z,1736357276.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 198.399994 m,
      bearing: 274.397763 deg,
      lat: 36.904193 deg,
      lon: -122.119175 deg,
      deltaT: 3.782477 s,
      deltaX: -2.300003 m,
      approachRate: -0.608068 m/s,
      posRepo size: 4

2025-01-08T17:27:56.584Z,1736357276.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:27:56.586Z,1736357276.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 180.304794 m,
      bearing: 273.564823 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013767 deg/s,
      cmd heading: 267.738416 deg,
      new cmd heading: 267.721319 deg.

2025-01-08T17:27:56.601Z,1736357276.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.672618 target range: 198.399994 and range: 198.40 m.
2025-01-08T17:27:56.973Z,1736357276.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:57.006Z,1736357277.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:27:57.017Z,1736357277.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 179.981171 m,
      bearing: 273.567871 deg,
      approach rate: -0.756875 m/s,
      LOS rate: 0.007142 deg/s,
      cmd heading: 267.721313 deg,
      new cmd heading: 267.730474 deg.

2025-01-08T17:27:57.018Z,1736357277.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.672778 target range: 198.399994 and range: 198.40 m.
2025-01-08T17:27:57.336Z,1736357277.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:57.344Z,1736357277.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:57.346Z,1736357277.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:27:57.349Z,1736357277.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 179.696518 m,
      bearing: 273.571113 deg,
      approach rate: -0.811800 m/s,
      LOS rate: 0.009262 deg/s,
      cmd heading: 267.730465 deg,
      new cmd heading: 267.740208 deg.

2025-01-08T17:27:57.350Z,1736357277.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.672948 target range: 198.399994 and range: 198.40 m.
2025-01-08T17:27:57.504Z,1736357277.504 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:27:57.504Z,1736357277.504 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:27:57.504Z,1736357277.504 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:27:57.734Z,1736357277.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:57.742Z,1736357277.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:27:57.745Z,1736357277.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 179.384201 m,
      bearing: 273.575029 deg,
      approach rate: -0.787698 m/s,
      LOS rate: 0.009893 deg/s,
      cmd heading: 267.740219 deg,
      new cmd heading: 267.751986 deg.

2025-01-08T17:27:57.746Z,1736357277.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673154 target range: 198.399994 and range: 198.40 m.
2025-01-08T17:27:57.756Z,1736357277.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246553
2025-01-08T17:27:58.011Z,1736357278.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500057
2025-01-08T17:27:58.139Z,1736357278.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:58.149Z,1736357278.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:27:58.152Z,1736357278.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 179.071716 m,
      bearing: 273.581083 deg,
      approach rate: -0.768006 m/s,
      LOS rate: 0.014906 deg/s,
      cmd heading: 267.751994 deg,
      new cmd heading: 267.770189 deg.

2025-01-08T17:27:58.153Z,1736357278.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673471 target range: 198.399994 and range: 198.40 m.
2025-01-08T17:27:58.261Z,1736357278.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751413
2025-01-08T17:27:58.512Z,1736357278.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002577
2025-01-08T17:27:58.539Z,1736357278.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:58.549Z,1736357278.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:27:58.552Z,1736357278.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 178.762726 m,
      bearing: 273.587159 deg,
      approach rate: -0.772824 m/s,
      LOS rate: 0.015223 deg/s,
      cmd heading: 267.770190 deg,
      new cmd heading: 267.788449 deg.

2025-01-08T17:27:58.553Z,1736357278.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673790 target range: 198.399994 and range: 198.40 m.
2025-01-08T17:27:58.764Z,1736357278.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254510
2025-01-08T17:27:58.936Z,1736357278.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:59.009Z,1736357279.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:27:59.016Z,1736357279.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506627
2025-01-08T17:27:59.024Z,1736357279.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 178.457916 m,
      bearing: 273.593170 deg,
      approach rate: -0.663348 m/s,
      LOS rate: 0.013104 deg/s,
      cmd heading: 267.788440 deg,
      new cmd heading: 267.806504 deg.

2025-01-08T17:27:59.026Z,1736357279.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674105 target range: 198.399994 and range: 198.40 m.
2025-01-08T17:27:59.269Z,1736357279.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758929
2025-01-08T17:27:59.358Z,1736357279.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:59.365Z,1736357279.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:27:59.368Z,1736357279.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:27:59.370Z,1736357279.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 178.137009 m,
      bearing: 273.601339 deg,
      approach rate: -0.894459 m/s,
      LOS rate: 0.022810 deg/s,
      cmd heading: 267.806499 deg,
      new cmd heading: 267.831050 deg.

2025-01-08T17:27:59.372Z,1736357279.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674534 target range: 198.399994 and range: 198.40 m.
2025-01-08T17:27:59.520Z,1736357279.520 [DAT](INFO): DAT read: Rx Time:17:27:58.2715

2025-01-08T17:27:59.521Z,1736357279.521 [DAT](INFO): Rx dataTimestamp_ set to:1736357279.520595
2025-01-08T17:27:59.521Z,1736357279.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011638
2025-01-08T17:27:59.736Z,1736357279.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:27:59.749Z,1736357279.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:27:59.774Z,1736357279.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264039
2025-01-08T17:27:59.781Z,1736357279.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 177.850220 m,
      bearing: 273.608635 deg,
      approach rate: -0.752725 m/s,
      LOS rate: 0.019180 deg/s,
      cmd heading: 267.831060 deg,
      new cmd heading: 267.852983 deg.

2025-01-08T17:27:59.783Z,1736357279.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674916 target range: 198.399994 and range: 198.40 m.
2025-01-08T17:28:00.032Z,1736357280.032 [DAT](INFO): DAT read: 17:27:58.2715 LVL= 21488, 24561, 16818, 26611, AGC= 67, IDX=  98,-0.18,-1.415,-2.801,-1.601,-2.009, PHS= 0.682,-0.745, 0.405, RAW= 139.5,  -5.3, CAL= 145.2, -14.9, ROT=   4.8,  14.9

2025-01-08T17:28:00.033Z,1736357280.033 [DAT](INFO): got valid direction response:
 17:27:58.2715 LVL= 21488, 24561, 16818, 26611, AGC= 67, IDX=  98,-0.18,-1.415,-2.801,-1.601,-2.009, PHS= 0.682,-0.745, 0.405, RAW= 139.5,  -5.3, CAL= 145.2, -14.9, ROT=   4.8,  14.9

2025-01-08T17:28:00.034Z,1736357280.034 [DAT](INFO): DAT read: Bearing   4.8,  14.9 (Local)

2025-01-08T17:28:00.034Z,1736357280.034 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.8,  14.9 (Local)

2025-01-08T17:28:00.036Z,1736357280.036 [DAT](INFO): DAT read: Range 10 to 50 : 173.8 m  (Round-trip  231.8 ms) speed  0.6 m/s

2025-01-08T17:28:00.036Z,1736357280.036 [DAT](INFO): DAT read: user:169>

2025-01-08T17:28:00.037Z,1736357280.037 [DAT](INFO): DAT read: Tx time:17:27:59.3856

2025-01-08T17:28:00.038Z,1736357280.037 [DAT](INFO): Ping request sent.
2025-01-08T17:28:00.038Z,1736357280.038 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:28:00.038Z,1736357280.038 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:28:00.039Z,1736357280.039 [DAT](INFO): direction in FSK: [0.962987,0.080864,-0.257133]
2025-01-08T17:28:00.039Z,1736357280.039 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:00.040Z,1736357280.040 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:00.045Z,1736357280.045 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:00.045Z,1736357280.045 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:00.220Z,1736357280.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:00.260Z,1736357280.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 173.800003 m,
 deltaT: 3.528488 s,
 deltaX: -24.599991 m,
 approachRate: -6.971822 m/s,
 rangeRepo size: 4
2025-01-08T17:28:00.261Z,1736357280.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:28:00.268Z,1736357280.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 177.500534 m,
      bearing: 273.617321 deg,
      approach rate: -0.689862 m/s,
      LOS rate: 0.017169 deg/s,
      cmd heading: 267.852972 deg,
      new cmd heading: 267.879080 deg.

2025-01-08T17:28:00.269Z,1736357280.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675372 target range: 198.399994 and range: 198.40 m.
2025-01-08T17:28:00.277Z,1736357280.277 [DAT](INFO): DAT read: TxSync time:17:27:59.3848

2025-01-08T17:28:00.560Z,1736357280.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:00.569Z,1736357280.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:28:00.572Z,1736357280.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 177.254181 m,
      bearing: 273.623460 deg,
      approach rate: -0.785790 m/s,
      LOS rate: 0.019610 deg/s,
      cmd heading: 267.879090 deg,
      new cmd heading: 267.897534 deg.

2025-01-08T17:28:00.573Z,1736357280.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675694 target range: 198.399994 and range: 198.40 m.
2025-01-08T17:28:00.954Z,1736357280.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:01.034Z,1736357281.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:28:01.049Z,1736357281.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 176.969666 m,
      bearing: 273.630719 deg,
      approach rate: -0.611603 m/s,
      LOS rate: 0.015630 deg/s,
      cmd heading: 267.897532 deg,
      new cmd heading: 267.919345 deg.

2025-01-08T17:28:01.050Z,1736357281.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676075 target range: 198.399994 and range: 198.40 m.
2025-01-08T17:28:01.367Z,1736357281.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:01.390Z,1736357281.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:01.396Z,1736357281.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:28:01.399Z,1736357281.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 176.687851 m,
      bearing: 273.639909 deg,
      approach rate: -0.777898 m/s,
      LOS rate: 0.025407 deg/s,
      cmd heading: 267.919334 deg,
      new cmd heading: 267.946947 deg.

2025-01-08T17:28:01.401Z,1736357281.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676557 target range: 198.399994 and range: 198.40 m.
2025-01-08T17:28:01.536Z,1736357281.536 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:28:01.536Z,1736357281.536 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:28:01.537Z,1736357281.537 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:28:01.761Z,1736357281.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:01.769Z,1736357281.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:28:01.772Z,1736357281.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 176.419220 m,
      bearing: 273.648540 deg,
      approach rate: -0.720900 m/s,
      LOS rate: 0.023198 deg/s,
      cmd heading: 267.946955 deg,
      new cmd heading: 267.972888 deg.

2025-01-08T17:28:01.773Z,1736357281.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677009 target range: 198.399994 and range: 198.40 m.
2025-01-08T17:28:01.788Z,1736357281.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750722
2025-01-08T17:28:02.041Z,1736357282.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003838
2025-01-08T17:28:02.204Z,1736357282.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:02.214Z,1736357282.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:28:02.217Z,1736357282.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 176.133240 m,
      bearing: 273.657942 deg,
      approach rate: -0.643077 m/s,
      LOS rate: 0.021176 deg/s,
      cmd heading: 267.972882 deg,
      new cmd heading: 268.001134 deg.

2025-01-08T17:28:02.218Z,1736357282.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677502 target range: 198.399994 and range: 198.40 m.
2025-01-08T17:28:02.293Z,1736357282.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255411
2025-01-08T17:28:02.544Z,1736357282.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506755
2025-01-08T17:28:02.562Z,1736357282.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:02.589Z,1736357282.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:28:02.596Z,1736357282.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 175.902725 m,
      bearing: 273.665043 deg,
      approach rate: -0.613493 m/s,
      LOS rate: 0.018924 deg/s,
      cmd heading: 268.001132 deg,
      new cmd heading: 268.022463 deg.

2025-01-08T17:28:02.597Z,1736357282.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677875 target range: 198.399994 and range: 198.40 m.
2025-01-08T17:28:02.798Z,1736357282.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760441
2025-01-08T17:28:02.977Z,1736357282.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:02.992Z,1736357282.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:28:03.002Z,1736357283.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 175.634842 m,
      bearing: 273.673140 deg,
      approach rate: -0.669380 m/s,
      LOS rate: 0.020264 deg/s,
      cmd heading: 268.022470 deg,
      new cmd heading: 268.046799 deg.

2025-01-08T17:28:03.007Z,1736357283.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.678299 target range: 198.399994 and range: 198.40 m.
2025-01-08T17:28:03.052Z,1736357283.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013450
2025-01-08T17:28:03.300Z,1736357283.300 [DAT](INFO): DAT read: Rx Time:17:28:02.0789

2025-01-08T17:28:03.301Z,1736357283.301 [DAT](INFO): Rx dataTimestamp_ set to:1736357283.300456
2025-01-08T17:28:03.301Z,1736357283.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263652
2025-01-08T17:28:03.386Z,1736357283.386 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -76 +1415.21,      -56.54,   7.96,  0.00
2025-01-08T17:28:03.394Z,1736357283.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:28:03.394Z,1736357283.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:03.401Z,1736357283.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:03.404Z,1736357283.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:28:03.406Z,1736357283.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 175.366287 m,
      bearing: 273.681097 deg,
      approach rate: -0.648861 m/s,
      LOS rate: 0.019254 deg/s,
      cmd heading: 268.046812 deg,
      new cmd heading: 268.070719 deg.

2025-01-08T17:28:03.408Z,1736357283.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.678717 target range: 198.399994 and range: 198.40 m.
2025-01-08T17:28:03.553Z,1736357283.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514885
2025-01-08T17:28:03.832Z,1736357283.832 [DAT](INFO): DAT read: 17:28:02.0789 LVL= 24112, 26353, 27282, 29475, AGC= 60, IDX= 508, 0.45,-3.024, 1.973,-2.887, 2.249, PHS= 1.098,-0.229, 1.144, RAW= 151.7, -27.8, CAL= 155.3, -33.8, ROT= 354.7,  33.8

2025-01-08T17:28:03.835Z,1736357283.835 [DAT](INFO): got valid direction response:
 17:28:02.0789 LVL= 24112, 26353, 27282, 29475, AGC= 60, IDX= 508, 0.45,-3.024, 1.973,-2.887, 2.249, PHS= 1.098,-0.229, 1.144, RAW= 151.7, -27.8, CAL= 155.3, -33.8, ROT= 354.7,  33.8

2025-01-08T17:28:03.839Z,1736357283.839 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-08T17:28:03.840Z,1736357283.840 [DAT](INFO): DAT read: Bearing 354.7,  33.8 (Local)

2025-01-08T17:28:03.840Z,1736357283.840 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.7,  33.8 (Local)

2025-01-08T17:28:03.843Z,1736357283.843 [DAT](INFO): DAT read: Range 10 to 50 : 216.8 m  (Round-trip  289.1 ms) speed  0.7 m/s

2025-01-08T17:28:03.847Z,1736357283.847 [DAT](INFO): DAT read: user:170>

2025-01-08T17:28:03.847Z,1736357283.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:03.864Z,1736357283.864 [DAT](INFO): DAT read: Tx time:17:28:03.1856

2025-01-08T17:28:03.864Z,1736357283.864 [DAT](INFO): Ping request sent.
2025-01-08T17:28:03.864Z,1736357283.864 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:28:03.864Z,1736357283.864 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:28:03.865Z,1736357283.865 [DAT](INFO): direction in FSK: [0.827432,-0.076758,-0.556296]
2025-01-08T17:28:03.866Z,1736357283.866 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:03.866Z,1736357283.866 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:03.878Z,1736357283.878 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:03.879Z,1736357283.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 216.800003 m,
      deltaT: 7.308771 s,
      deltaX: 18.400009 m,
      approachRate: 2.517524 m/s,
      rangeRepo size: 4

2025-01-08T17:28:03.881Z,1736357283.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:28:03.887Z,1736357283.887 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:03.901Z,1736357283.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 175.079086 m,
      bearing: 273.689573 deg,
      approach rate: -0.615243 m/s,
      LOS rate: 0.018189 deg/s,
      cmd heading: 268.070718 deg,
      new cmd heading: 268.096190 deg.

2025-01-08T17:28:03.906Z,1736357283.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.679161 target range: 198.399994 and range: 216.80 m.
2025-01-08T17:28:04.057Z,1736357284.057 [DAT](INFO): DAT read: TxSync time:17:28:03.1848

2025-01-08T17:28:04.258Z,1736357284.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:04.306Z,1736357284.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:28:04.319Z,1736357284.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 174.816589 m,
      bearing: 273.694914 deg,
      approach rate: -0.603949 m/s,
      LOS rate: 0.012306 deg/s,
      cmd heading: 268.096181 deg,
      new cmd heading: 268.112227 deg.

2025-01-08T17:28:04.320Z,1736357284.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.679441 target range: 198.399994 and range: 216.80 m.
2025-01-08T17:28:04.610Z,1736357284.610 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:04.619Z,1736357284.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:28:04.622Z,1736357284.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 174.595779 m,
      bearing: 273.699490 deg,
      approach rate: -0.704068 m/s,
      LOS rate: 0.014609 deg/s,
      cmd heading: 268.112218 deg,
      new cmd heading: 268.125963 deg.

2025-01-08T17:28:04.623Z,1736357284.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.679681 target range: 198.399994 and range: 216.80 m.
2025-01-08T17:28:04.748Z,1736357284.748 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:28:05.009Z,1736357285.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:05.027Z,1736357285.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:28:05.087Z,1736357285.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 174.345840 m,
      bearing: 273.704829 deg,
      approach rate: -0.615140 m/s,
      LOS rate: 0.013158 deg/s,
      cmd heading: 268.125961 deg,
      new cmd heading: 268.142000 deg.

2025-01-08T17:28:05.088Z,1736357285.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.679961 target range: 198.399994 and range: 216.80 m.
2025-01-08T17:28:05.461Z,1736357285.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:05.468Z,1736357285.468 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:05.470Z,1736357285.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:28:05.473Z,1736357285.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 174.064514 m,
      bearing: 273.709759 deg,
      approach rate: -0.632237 m/s,
      LOS rate: 0.011098 deg/s,
      cmd heading: 268.141998 deg,
      new cmd heading: 268.156812 deg.

2025-01-08T17:28:05.474Z,1736357285.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680219 target range: 198.399994 and range: 216.80 m.
2025-01-08T17:28:05.568Z,1736357285.568 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:28:05.568Z,1736357285.568 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:28:05.569Z,1736357285.569 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:28:05.752Z,1736357285.752 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:28:05.820Z,1736357285.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.956144
2025-01-08T17:28:05.823Z,1736357285.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:05.831Z,1736357285.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:28:05.834Z,1736357285.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 173.839188 m,
      bearing: 273.713614 deg,
      approach rate: -0.624002 m/s,
      LOS rate: 0.010689 deg/s,
      cmd heading: 268.156806 deg,
      new cmd heading: 268.168385 deg.

2025-01-08T17:28:05.835Z,1736357285.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680421 target range: 198.399994 and range: 216.80 m.
2025-01-08T17:28:06.076Z,1736357286.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211307
2025-01-08T17:28:06.321Z,1736357286.321 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -76.56,     +1417.  0.00
2025-01-08T17:28:06.324Z,1736357286.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.460182
2025-01-08T17:28:06.331Z,1736357286.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-08T17:28:06.332Z,1736357286.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:06.357Z,1736357286.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:28:06.361Z,1736357286.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 173.522568 m,
      bearing: 273.718799 deg,
      approach rate: -0.601661 m/s,
      LOS rate: 0.009872 deg/s,
      cmd heading: 268.168390 deg,
      new cmd heading: 268.183975 deg.

2025-01-08T17:28:06.362Z,1736357286.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680693 target range: 198.399994 and range: 216.80 m.
2025-01-08T17:28:06.577Z,1736357286.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.712672
2025-01-08T17:28:06.724Z,1736357286.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-08T17:28:06.724Z,1736357286.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:06.734Z,1736357286.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:28:06.737Z,1736357286.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 173.277634 m,
      bearing: 273.722627 deg,
      approach rate: -0.649920 m/s,
      LOS rate: 0.010171 deg/s,
      cmd heading: 268.183963 deg,
      new cmd heading: 268.195462 deg.

2025-01-08T17:28:06.738Z,1736357286.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680894 target range: 198.399994 and range: 216.80 m.
2025-01-08T17:28:06.828Z,1736357286.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964088
2025-01-08T17:28:07.084Z,1736357287.084 [DAT](INFO): DAT read: Rx Time:17:28:05.8765

2025-01-08T17:28:07.086Z,1736357287.086 [DAT](INFO): Rx dataTimestamp_ set to:1736357287.084733
2025-01-08T17:28:07.088Z,1736357287.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223499
2025-01-08T17:28:07.202Z,1736357287.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:07.212Z,1736357287.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:28:07.214Z,1736357287.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 172.957962 m,
      bearing: 273.726207 deg,
      approach rate: -0.669531 m/s,
      LOS rate: 0.007512 deg/s,
      cmd heading: 268.195465 deg,
      new cmd heading: 268.206224 deg.

2025-01-08T17:28:07.218Z,1736357287.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681082 target range: 198.399994 and range: 216.80 m.
2025-01-08T17:28:07.332Z,1736357287.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.468048
2025-01-08T17:28:07.587Z,1736357287.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.722544
2025-01-08T17:28:07.626Z,1736357287.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:07.641Z,1736357287.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:07.648Z,1736357287.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.40 m.
2025-01-08T17:28:07.650Z,1736357287.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.399994 m,
      nav range: 172.674515 m,
      bearing: 273.729254 deg,
      approach rate: -0.656069 m/s,
      LOS rate: 0.007065 deg/s,
      cmd heading: 268.206229 deg,
      new cmd heading: 268.215387 deg.

2025-01-08T17:28:07.656Z,1736357287.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681242 target range: 198.399994 and range: 216.80 m.
2025-01-08T17:28:07.842Z,1736357287.842 [DAT](INFO): DAT read: 17:28:05.8765 LVL= 25808, 29537, 20610, 29475, AGC= 64, IDX= 419,-0.14,-2.547, 2.553,-2.358, 2.680, PHS= 1.145,-0.079, 1.242, RAW= 153.8, -32.6, CAL= 156.1, -38.2, ROT= 353.9,  38.2

2025-01-08T17:28:07.844Z,1736357287.844 [DAT](INFO): got valid direction response:
 17:28:05.8765 LVL= 25808, 29537, 20610, 29475, AGC= 64, IDX= 419,-0.14,-2.547, 2.553,-2.358, 2.680, PHS= 1.145,-0.079, 1.242, RAW= 153.8, -32.6, CAL= 156.1, -38.2, ROT= 353.9,  38.2

2025-01-08T17:28:07.845Z,1736357287.845 [DAT](INFO): DAT read: Bearing 353.9,  38.2 (Local)

2025-01-08T17:28:07.845Z,1736357287.845 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.9,  38.2 (Local)

2025-01-08T17:28:07.847Z,1736357287.847 [DAT](INFO): DAT read: Range 10 to 50 : 215.0 m  (Round-trip  286.7 ms) speed  0.4 m/s

2025-01-08T17:28:07.848Z,1736357287.848 [DAT](INFO): DAT read: user:171>

2025-01-08T17:28:07.848Z,1736357287.848 [DAT](INFO): DAT read: Tx time:17:28:06.9857

2025-01-08T17:28:07.849Z,1736357287.849 [DAT](INFO): Ping request sent.
2025-01-08T17:28:07.849Z,1736357287.849 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:28:07.849Z,1736357287.849 [DAT](INFO): DAT read: TxSync time:17:28:06.9849

2025-01-08T17:28:07.850Z,1736357287.850 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:28:07.851Z,1736357287.851 [DAT](INFO): direction in FSK: [0.781407,-0.083508,-0.618408]
2025-01-08T17:28:07.887Z,1736357287.887 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:07.888Z,1736357287.888 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:07.891Z,1736357287.891 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:07.891Z,1736357287.891 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:08.019Z,1736357288.019 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:08.118Z,1736357288.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 215.000000 m,
      deltaT: 4.031156 s,
      deltaX: -1.800003 m,
      approachRate: -0.446523 m/s,
      rangeRepo size: 4

2025-01-08T17:28:08.125Z,1736357288.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 215.000000 m,
      bearing: 268.458085 deg,
      lat: 36.904203 deg,
      lon: -122.119284 deg,
      deltaT: 11.339927 s,
      deltaX: 16.600006 m,
      approachRate: 1.463855 m/s,
      posRepo size: 4

2025-01-08T17:28:08.126Z,1736357288.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:08.133Z,1736357288.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 182.148819 m,
      bearing: 273.893643 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007065 deg/s,
      cmd heading: 268.215382 deg,
      new cmd heading: 268.225429 deg.

2025-01-08T17:28:08.134Z,1736357288.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681417 target range: 215.000000 and range: 215.00 m.
2025-01-08T17:28:08.432Z,1736357288.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:08.441Z,1736357288.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:08.445Z,1736357288.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 181.864380 m,
      bearing: 273.897517 deg,
      approach rate: -0.879413 m/s,
      LOS rate: 0.011998 deg/s,
      cmd heading: 268.225436 deg,
      new cmd heading: 268.237077 deg.

2025-01-08T17:28:08.446Z,1736357288.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681620 target range: 215.000000 and range: 215.00 m.
2025-01-08T17:28:08.836Z,1736357288.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:08.864Z,1736357288.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:08.867Z,1736357288.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 181.586533 m,
      bearing: 273.901333 deg,
      approach rate: -0.656510 m/s,
      LOS rate: 0.009030 deg/s,
      cmd heading: 268.237074 deg,
      new cmd heading: 268.248540 deg.

2025-01-08T17:28:08.868Z,1736357288.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681820 target range: 215.000000 and range: 215.00 m.
2025-01-08T17:28:09.239Z,1736357289.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:09.250Z,1736357289.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:09.273Z,1736357289.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 181.305313 m,
      bearing: 273.905400 deg,
      approach rate: -0.729449 m/s,
      LOS rate: 0.010565 deg/s,
      cmd heading: 268.248549 deg,
      new cmd heading: 268.260768 deg.

2025-01-08T17:28:09.274Z,1736357289.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682034 target range: 215.000000 and range: 215.00 m.
2025-01-08T17:28:09.636Z,1736357289.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:09.644Z,1736357289.644 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:09.646Z,1736357289.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:09.649Z,1736357289.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 181.028015 m,
      bearing: 273.909166 deg,
      approach rate: -0.699467 m/s,
      LOS rate: 0.009515 deg/s,
      cmd heading: 268.260761 deg,
      new cmd heading: 268.272077 deg.

2025-01-08T17:28:09.650Z,1736357289.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682231 target range: 215.000000 and range: 215.00 m.
2025-01-08T17:28:09.856Z,1736357289.856 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:28:09.856Z,1736357289.856 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:28:09.856Z,1736357289.856 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:28:10.028Z,1736357290.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:10.042Z,1736357290.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:10.049Z,1736357290.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 180.754257 m,
      bearing: 273.912790 deg,
      approach rate: -0.693539 m/s,
      LOS rate: 0.009194 deg/s,
      cmd heading: 268.272072 deg,
      new cmd heading: 268.282959 deg.

2025-01-08T17:28:10.052Z,1736357290.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682421 target range: 215.000000 and range: 215.00 m.
2025-01-08T17:28:10.109Z,1736357290.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259631
2025-01-08T17:28:10.356Z,1736357290.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507529
2025-01-08T17:28:10.468Z,1736357290.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:10.481Z,1736357290.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:10.488Z,1736357290.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 180.446655 m,
      bearing: 273.915892 deg,
      approach rate: -0.699016 m/s,
      LOS rate: 0.007061 deg/s,
      cmd heading: 268.282946 deg,
      new cmd heading: 268.292268 deg.

2025-01-08T17:28:10.489Z,1736357290.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682583 target range: 215.000000 and range: 215.00 m.
2025-01-08T17:28:10.609Z,1736357290.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760534
2025-01-08T17:28:10.834Z,1736357290.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:10.845Z,1736357290.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:10.847Z,1736357290.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 180.190613 m,
      bearing: 273.918379 deg,
      approach rate: -0.704089 m/s,
      LOS rate: 0.006850 deg/s,
      cmd heading: 268.292262 deg,
      new cmd heading: 268.299735 deg.

2025-01-08T17:28:10.848Z,1736357290.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682714 target range: 215.000000 and range: 215.00 m.
2025-01-08T17:28:10.861Z,1736357290.861 [DAT](INFO): DAT read: Rx Time:17:28:09.6114

2025-01-08T17:28:10.861Z,1736357290.861 [DAT](INFO): Rx dataTimestamp_ set to:1736357290.861125
2025-01-08T17:28:10.862Z,1736357290.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013181
2025-01-08T17:28:11.117Z,1736357291.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267163
2025-01-08T17:28:11.244Z,1736357291.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:28:11.244Z,1736357291.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:11.253Z,1736357291.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:11.257Z,1736357291.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 179.903946 m,
      bearing: 273.921006 deg,
      approach rate: -0.701271 m/s,
      LOS rate: 0.006436 deg/s,
      cmd heading: 268.299748 deg,
      new cmd heading: 268.307641 deg.

2025-01-08T17:28:11.258Z,1736357291.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682852 target range: 215.000000 and range: 215.00 m.
2025-01-08T17:28:11.376Z,1736357291.376 [DAT](INFO): DAT read: 17:28:09.6114 LVL= 26800, 32753, 25778, 32755, AGC= 64, IDX= 280, 0.47,-1.259,-2.755,-1.443,-1.832, PHS= 0.660,-0.876, 0.386, RAW= 140.4,  -2.4, CAL= 145.4, -11.7, ROT=   4.6,  11.7

2025-01-08T17:28:11.377Z,1736357291.377 [DAT](INFO): got valid direction response:
 17:28:09.6114 LVL= 26800, 32753, 25778, 32755, AGC= 64, IDX= 280, 0.47,-1.259,-2.755,-1.443,-1.832, PHS= 0.660,-0.876, 0.386, RAW= 140.4,  -2.4, CAL= 145.4, -11.7, ROT=   4.6,  11.7

2025-01-08T17:28:11.378Z,1736357291.378 [DAT](INFO): DAT read: Bearing   4.6,  11.7 (Local)

2025-01-08T17:28:11.378Z,1736357291.378 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.6,  11.7 (Local)

2025-01-08T17:28:11.381Z,1736357291.381 [DAT](INFO): DAT read: Range 10 to 50 : 166.1 m  (Round-trip  221.5 ms) speed  0.7 m/s

2025-01-08T17:28:11.382Z,1736357291.382 [DAT](INFO): DAT read: user:172>

2025-01-08T17:28:11.382Z,1736357291.382 [DAT](INFO): DAT read: Tx time:17:28:10.7357

2025-01-08T17:28:11.383Z,1736357291.383 [DAT](INFO): Ping request sent.
2025-01-08T17:28:11.383Z,1736357291.383 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:28:11.383Z,1736357291.383 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:28:11.384Z,1736357291.384 [DAT](INFO): direction in FSK: [0.976069,0.078533,-0.202787]
2025-01-08T17:28:11.385Z,1736357291.385 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:11.385Z,1736357291.385 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:11.409Z,1736357291.409 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:11.410Z,1736357291.410 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:11.617Z,1736357291.617 [DAT](INFO): DAT read: TxSync time:17:28:10.7349

2025-01-08T17:28:11.672Z,1736357291.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:28:11.672Z,1736357291.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:11.724Z,1736357291.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 166.100006 m,
 deltaT: 3.529984 s,
 deltaX: -48.899994 m,
 approachRate: -13.852753 m/s,
 rangeRepo size: 4
2025-01-08T17:28:11.724Z,1736357291.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:11.732Z,1736357291.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 179.604858 m,
      bearing: 273.923756 deg,
      approach rate: -0.642892 m/s,
      LOS rate: 0.005920 deg/s,
      cmd heading: 268.307644 deg,
      new cmd heading: 268.315907 deg.

2025-01-08T17:28:11.733Z,1736357291.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682996 target range: 215.000000 and range: 215.00 m.
2025-01-08T17:28:12.049Z,1736357292.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-08T17:28:12.049Z,1736357292.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:12.057Z,1736357292.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:12.059Z,1736357292.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:12.062Z,1736357292.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 179.341125 m,
      bearing: 273.926213 deg,
      approach rate: -0.774689 m/s,
      LOS rate: 0.007229 deg/s,
      cmd heading: 268.315895 deg,
      new cmd heading: 268.323277 deg.

2025-01-08T17:28:12.063Z,1736357292.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683125 target range: 215.000000 and range: 215.00 m.
2025-01-08T17:28:12.122Z,1736357292.122 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:28:12.123Z,1736357292.123 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:28:12.124Z,1736357292.124 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:28:12.372Z,1736357292.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989561
2025-01-08T17:28:12.478Z,1736357292.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:12.488Z,1736357292.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:12.490Z,1736357292.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 179.036087 m,
      bearing: 273.930116 deg,
      approach rate: -0.712322 m/s,
      LOS rate: 0.009130 deg/s,
      cmd heading: 268.323271 deg,
      new cmd heading: 268.335001 deg.

2025-01-08T17:28:12.492Z,1736357292.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683329 target range: 215.000000 and range: 215.00 m.
2025-01-08T17:28:12.625Z,1736357292.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242719
2025-01-08T17:28:12.853Z,1736357292.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:12.862Z,1736357292.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:12.865Z,1736357292.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 178.770599 m,
      bearing: 273.933514 deg,
      approach rate: -0.708755 m/s,
      LOS rate: 0.009084 deg/s,
      cmd heading: 268.334992 deg,
      new cmd heading: 268.345200 deg.

2025-01-08T17:28:12.866Z,1736357292.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683507 target range: 215.000000 and range: 215.00 m.
2025-01-08T17:28:12.877Z,1736357292.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493913
2025-01-08T17:28:13.128Z,1736357293.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745636
2025-01-08T17:28:13.288Z,1736357293.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:13.297Z,1736357293.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:13.300Z,1736357293.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 178.470642 m,
      bearing: 273.939117 deg,
      approach rate: -0.688892 m/s,
      LOS rate: 0.012889 deg/s,
      cmd heading: 268.345210 deg,
      new cmd heading: 268.362046 deg.

2025-01-08T17:28:13.301Z,1736357293.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683801 target range: 215.000000 and range: 215.00 m.
2025-01-08T17:28:13.382Z,1736357293.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998814
2025-01-08T17:28:13.632Z,1736357293.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249584
2025-01-08T17:28:13.680Z,1736357293.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:13.706Z,1736357293.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:13.715Z,1736357293.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 178.200638 m,
      bearing: 273.944001 deg,
      approach rate: -0.660994 m/s,
      LOS rate: 0.011974 deg/s,
      cmd heading: 268.362039 deg,
      new cmd heading: 268.376713 deg.

2025-01-08T17:28:13.720Z,1736357293.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.684057 target range: 215.000000 and range: 215.00 m.
2025-01-08T17:28:13.884Z,1736357293.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501514
2025-01-08T17:28:14.067Z,1736357294.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:14.104Z,1736357294.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:14.113Z,1736357294.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:14.128Z,1736357294.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 177.934402 m,
      bearing: 273.948664 deg,
      approach rate: -0.654944 m/s,
      LOS rate: 0.011490 deg/s,
      cmd heading: 268.376711 deg,
      new cmd heading: 268.390722 deg.

2025-01-08T17:28:14.129Z,1736357294.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.684302 target range: 215.000000 and range: 215.00 m.
2025-01-08T17:28:14.140Z,1736357294.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756724
2025-01-08T17:28:14.388Z,1736357294.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005676
2025-01-08T17:28:14.521Z,1736357294.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:14.531Z,1736357294.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:14.534Z,1736357294.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 177.619415 m,
      bearing: 273.953575 deg,
      approach rate: -0.752440 m/s,
      LOS rate: 0.011752 deg/s,
      cmd heading: 268.390726 deg,
      new cmd heading: 268.405485 deg.

2025-01-08T17:28:14.535Z,1736357294.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.684559 target range: 215.000000 and range: 215.00 m.
2025-01-08T17:28:14.640Z,1736357294.640 [DAT](INFO): DAT read: Rx Time:17:28:13.3908

2025-01-08T17:28:14.641Z,1736357294.641 [DAT](INFO): Rx dataTimestamp_ set to:1736357294.640630
2025-01-08T17:28:14.642Z,1736357294.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259043
2025-01-08T17:28:14.868Z,1736357294.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:14.878Z,1736357294.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:14.881Z,1736357294.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 177.379181 m,
      bearing: 273.957089 deg,
      approach rate: -0.692574 m/s,
      LOS rate: 0.010142 deg/s,
      cmd heading: 268.405479 deg,
      new cmd heading: 268.416034 deg.

2025-01-08T17:28:14.882Z,1736357294.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.684743 target range: 215.000000 and range: 215.00 m.
2025-01-08T17:28:14.893Z,1736357294.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510204
2025-01-08T17:28:15.145Z,1736357295.145 [DAT](INFO): DAT read: Range 10 to 50 : 188.1 m  (Round-trip  250.9 ms) speed  0.4 m/s

2025-01-08T17:28:15.146Z,1736357295.146 [DAT](INFO): DAT read: user:173>

2025-01-08T17:28:15.148Z,1736357295.148 [DAT](INFO): DAT read: Tx time:17:28:14.4857

2025-01-08T17:28:15.149Z,1736357295.149 [DAT](INFO): Ping request sent.
2025-01-08T17:28:15.149Z,1736357295.149 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:28:15.150Z,1736357295.150 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:28:15.151Z,1736357295.151 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:15.153Z,1736357295.153 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:15.337Z,1736357295.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:15.362Z,1736357295.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 188.100006 m,
      deltaT: 7.308002 s,
      deltaX: -26.899994 m,
      approachRate: -3.680896 m/s,
      rangeRepo size: 4

2025-01-08T17:28:15.363Z,1736357295.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:15.370Z,1736357295.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 177.065155 m,
      bearing: 273.961545 deg,
      approach rate: -0.649442 m/s,
      LOS rate: 0.009233 deg/s,
      cmd heading: 268.416025 deg,
      new cmd heading: 268.429418 deg.

2025-01-08T17:28:15.371Z,1736357295.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.684977 target range: 215.000000 and range: 188.10 m.
2025-01-08T17:28:15.397Z,1736357295.397 [DAT](INFO): DAT read: TxSync time:17:28:14.4845

2025-01-08T17:28:15.678Z,1736357295.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:15.691Z,1736357295.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:15.717Z,1736357295.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 176.836914 m,
      bearing: 273.964723 deg,
      approach rate: -0.693173 m/s,
      LOS rate: 0.009665 deg/s,
      cmd heading: 268.429412 deg,
      new cmd heading: 268.438959 deg.

2025-01-08T17:28:15.718Z,1736357295.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685143 target range: 215.000000 and range: 188.10 m.
2025-01-08T17:28:16.128Z,1736357296.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:16.137Z,1736357296.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:16.153Z,1736357296.153 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:28:16.153Z,1736357296.153 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:28:16.153Z,1736357296.153 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:28:16.159Z,1736357296.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:16.162Z,1736357296.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 176.535919 m,
      bearing: 273.969281 deg,
      approach rate: -0.660569 m/s,
      LOS rate: 0.010020 deg/s,
      cmd heading: 268.438947 deg,
      new cmd heading: 268.452645 deg.

2025-01-08T17:28:16.170Z,1736357296.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685382 target range: 215.000000 and range: 188.10 m.
2025-01-08T17:28:16.404Z,1736357296.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255654
2025-01-08T17:28:16.545Z,1736357296.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:16.554Z,1736357296.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:16.557Z,1736357296.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 176.258408 m,
      bearing: 273.973762 deg,
      approach rate: -0.680686 m/s,
      LOS rate: 0.011006 deg/s,
      cmd heading: 268.452635 deg,
      new cmd heading: 268.466097 deg.

2025-01-08T17:28:16.559Z,1736357296.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685617 target range: 215.000000 and range: 188.10 m.
2025-01-08T17:28:16.656Z,1736357296.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507753
2025-01-08T17:28:16.909Z,1736357296.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760418
2025-01-08T17:28:16.910Z,1736357296.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:16.919Z,1736357296.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:16.922Z,1736357296.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 176.015381 m,
      bearing: 273.977886 deg,
      approach rate: -0.666157 m/s,
      LOS rate: 0.011321 deg/s,
      cmd heading: 268.466104 deg,
      new cmd heading: 268.478494 deg.

2025-01-08T17:28:16.923Z,1736357296.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685834 target range: 215.000000 and range: 188.10 m.
2025-01-08T17:28:17.162Z,1736357297.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013476
2025-01-08T17:28:17.337Z,1736357297.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:17.346Z,1736357297.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:17.349Z,1736357297.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 175.730957 m,
      bearing: 273.981206 deg,
      approach rate: -0.665853 m/s,
      LOS rate: 0.007785 deg/s,
      cmd heading: 268.478508 deg,
      new cmd heading: 268.488484 deg.

2025-01-08T17:28:17.351Z,1736357297.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686008 target range: 215.000000 and range: 188.10 m.
2025-01-08T17:28:17.413Z,1736357297.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263929
2025-01-08T17:28:17.664Z,1736357297.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515620
2025-01-08T17:28:17.736Z,1736357297.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:17.749Z,1736357297.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:17.773Z,1736357297.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 175.464615 m,
      bearing: 273.984150 deg,
      approach rate: -0.665494 m/s,
      LOS rate: 0.007367 deg/s,
      cmd heading: 268.488480 deg,
      new cmd heading: 268.497325 deg.

2025-01-08T17:28:17.774Z,1736357297.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686162 target range: 215.000000 and range: 188.10 m.
2025-01-08T17:28:17.917Z,1736357297.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768060
2025-01-08T17:28:18.123Z,1736357298.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:18.132Z,1736357298.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:18.135Z,1736357298.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 175.206009 m,
      bearing: 273.986942 deg,
      approach rate: -0.671259 m/s,
      LOS rate: 0.007259 deg/s,
      cmd heading: 268.497332 deg,
      new cmd heading: 268.505721 deg.

2025-01-08T17:28:18.138Z,1736357298.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686309 target range: 215.000000 and range: 188.10 m.
2025-01-08T17:28:18.170Z,1736357298.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021383
2025-01-08T17:28:18.420Z,1736357298.420 [DAT](INFO): DAT read: Rx Time:17:28:17.1369

2025-01-08T17:28:18.421Z,1736357298.421 [DAT](INFO): Rx dataTimestamp_ set to:1736357298.420544
2025-01-08T17:28:18.421Z,1736357298.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272732
2025-01-08T17:28:18.549Z,1736357298.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:18.572Z,1736357298.572 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:18.574Z,1736357298.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.00 m.
2025-01-08T17:28:18.582Z,1736357298.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.000000 m,
      nav range: 174.922958 m,
      bearing: 273.989500 deg,
      approach rate: -0.639277 m/s,
      LOS rate: 0.005787 deg/s,
      cmd heading: 268.505719 deg,
      new cmd heading: 268.513406 deg.

2025-01-08T17:28:18.583Z,1736357298.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686443 target range: 215.000000 and range: 188.10 m.
2025-01-08T17:28:18.673Z,1736357298.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524697
2025-01-08T17:28:18.937Z,1736357298.937 [DAT](INFO): DAT read: 17:28:17.1369 LVL= 24992, 32753, 21682, 32755, AGC= 63, IDX= 398, 0.28, 1.640, 0.072, 1.459, 1.045, PHS= 0.684,-0.925, 0.411, RAW= 140.9,  -2.3, CAL= 145.8, -11.5, ROT=   4.2,  11.5

2025-01-08T17:28:18.938Z,1736357298.938 [DAT](INFO): got valid direction response:
 17:28:17.1369 LVL= 24992, 32753, 21682, 32755, AGC= 63, IDX= 398, 0.28, 1.640, 0.072, 1.459, 1.045, PHS= 0.684,-0.925, 0.411, RAW= 140.9,  -2.3, CAL= 145.8, -11.5, ROT=   4.2,  11.5

2025-01-08T17:28:18.939Z,1736357298.939 [DAT](INFO): DAT read: Bearing   4.2,  11.5 (Local)

2025-01-08T17:28:18.939Z,1736357298.939 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.2,  11.5 (Local)

2025-01-08T17:28:18.942Z,1736357298.942 [DAT](INFO): DAT read: Range 10 to 50 : 185.2 m  (Round-trip  247.0 ms) speed  0.6 m/s

2025-01-08T17:28:18.943Z,1736357298.943 [DAT](INFO): DAT read: user:174>

2025-01-08T17:28:18.944Z,1736357298.944 [DAT](INFO): DAT read: Tx time:17:28:18.2357

2025-01-08T17:28:18.945Z,1736357298.945 [DAT](INFO): Ping request sent.
2025-01-08T17:28:18.945Z,1736357298.945 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:28:18.946Z,1736357298.946 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:28:18.960Z,1736357298.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:18.965Z,1736357298.965 [DAT](INFO): direction in FSK: [0.977293,0.071768,-0.199368]
2025-01-08T17:28:18.966Z,1736357298.966 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:18.966Z,1736357298.966 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:18.978Z,1736357298.978 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:18.978Z,1736357298.978 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:19.014Z,1736357299.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 185.199997 m,
      deltaT: 3.780047 s,
      deltaX: -2.900009 m,
      approachRate: -0.767189 m/s,
      rangeRepo size: 4

2025-01-08T17:28:19.021Z,1736357299.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 185.199997 m,
      bearing: 274.778181 deg,
      lat: 36.904203 deg,
      lon: -122.119187 deg,
      deltaT: 11.088049 s,
      deltaX: -29.800003 m,
      approachRate: -2.687579 m/s,
      posRepo size: 4

2025-01-08T17:28:19.021Z,1736357299.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-01-08T17:28:19.032Z,1736357299.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.199997 m,
      nav range: 166.077499 m,
      bearing: 274.198312 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005787 deg/s,
      cmd heading: 268.513396 deg,
      new cmd heading: 268.521025 deg.

2025-01-08T17:28:19.033Z,1736357299.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686576 target range: 185.199997 and range: 185.20 m.
2025-01-08T17:28:19.177Z,1736357299.177 [DAT](INFO): DAT read: TxSync time:17:28:18.2349

2025-01-08T17:28:19.413Z,1736357299.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:19.433Z,1736357299.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-01-08T17:28:19.440Z,1736357299.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.199997 m,
      nav range: 165.771988 m,
      bearing: 274.199069 deg,
      approach rate: -0.728576 m/s,
      LOS rate: 0.001809 deg/s,
      cmd heading: 268.521019 deg,
      new cmd heading: 268.523294 deg.

2025-01-08T17:28:19.441Z,1736357299.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686615 target range: 185.199997 and range: 185.20 m.
2025-01-08T17:28:19.745Z,1736357299.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:19.754Z,1736357299.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-01-08T17:28:19.757Z,1736357299.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.199997 m,
      nav range: 165.547501 m,
      bearing: 274.200001 deg,
      approach rate: -0.699747 m/s,
      LOS rate: 0.002908 deg/s,
      cmd heading: 268.523286 deg,
      new cmd heading: 268.526085 deg.

2025-01-08T17:28:19.758Z,1736357299.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686664 target range: 185.199997 and range: 185.20 m.
2025-01-08T17:28:20.149Z,1736357300.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:20.158Z,1736357300.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-01-08T17:28:20.177Z,1736357300.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.199997 m,
      nav range: 165.275970 m,
      bearing: 274.201401 deg,
      approach rate: -0.671970 m/s,
      LOS rate: 0.003470 deg/s,
      cmd heading: 268.526073 deg,
      new cmd heading: 268.530279 deg.

2025-01-08T17:28:20.178Z,1736357300.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686738 target range: 185.199997 and range: 185.20 m.
2025-01-08T17:28:20.573Z,1736357300.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:20.581Z,1736357300.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:20.583Z,1736357300.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-01-08T17:28:20.586Z,1736357300.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.199997 m,
      nav range: 164.982224 m,
      bearing: 274.201747 deg,
      approach rate: -0.690336 m/s,
      LOS rate: 0.000816 deg/s,
      cmd heading: 268.530281 deg,
      new cmd heading: 268.531323 deg.

2025-01-08T17:28:20.588Z,1736357300.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686756 target range: 185.199997 and range: 185.20 m.
2025-01-08T17:28:20.689Z,1736357300.689 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:28:20.690Z,1736357300.690 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:28:20.690Z,1736357300.690 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:28:20.940Z,1736357300.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995075
2025-01-08T17:28:20.946Z,1736357300.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:20.957Z,1736357300.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-01-08T17:28:20.961Z,1736357300.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.199997 m,
      nav range: 164.724442 m,
      bearing: 274.201856 deg,
      approach rate: -0.689876 m/s,
      LOS rate: 0.000292 deg/s,
      cmd heading: 268.531319 deg,
      new cmd heading: 268.531646 deg.

2025-01-08T17:28:20.962Z,1736357300.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686761 target range: 185.199997 and range: 185.20 m.
2025-01-08T17:28:21.194Z,1736357301.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248507
2025-01-08T17:28:21.386Z,1736357301.386 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:21.395Z,1736357301.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-01-08T17:28:21.398Z,1736357301.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.199997 m,
      nav range: 164.420425 m,
      bearing: 274.201985 deg,
      approach rate: -0.694029 m/s,
      LOS rate: 0.000295 deg/s,
      cmd heading: 268.531647 deg,
      new cmd heading: 268.532034 deg.

2025-01-08T17:28:21.399Z,1736357301.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686768 target range: 185.199997 and range: 185.20 m.
2025-01-08T17:28:21.444Z,1736357301.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499327
2025-01-08T17:28:21.698Z,1736357301.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753062
2025-01-08T17:28:21.757Z,1736357301.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:21.767Z,1736357301.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-01-08T17:28:21.770Z,1736357301.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.199997 m,
      nav range: 164.164444 m,
      bearing: 274.202051 deg,
      approach rate: -0.688742 m/s,
      LOS rate: 0.000176 deg/s,
      cmd heading: 268.532029 deg,
      new cmd heading: 268.532226 deg.

2025-01-08T17:28:21.771Z,1736357301.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686771 target range: 185.199997 and range: 185.20 m.
2025-01-08T17:28:21.948Z,1736357301.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003054
2025-01-08T17:28:22.166Z,1736357302.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:22.174Z,1736357302.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-01-08T17:28:22.195Z,1736357302.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.199997 m,
      nav range: 163.882019 m,
      bearing: 274.202197 deg,
      approach rate: -0.692692 m/s,
      LOS rate: 0.000359 deg/s,
      cmd heading: 268.532220 deg,
      new cmd heading: 268.532660 deg.

2025-01-08T17:28:22.196Z,1736357302.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686779 target range: 185.199997 and range: 185.20 m.
2025-01-08T17:28:22.200Z,1736357302.200 [DAT](INFO): DAT read: Rx Time:17:28:20.8511

2025-01-08T17:28:22.202Z,1736357302.202 [DAT](INFO): Rx dataTimestamp_ set to:1736357302.200975
2025-01-08T17:28:22.203Z,1736357302.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257733
2025-01-08T17:28:22.453Z,1736357302.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507694
2025-01-08T17:28:22.622Z,1736357302.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:22.630Z,1736357302.630 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:22.653Z,1736357302.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-01-08T17:28:22.659Z,1736357302.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.199997 m,
      nav range: 163.557938 m,
      bearing: 274.203216 deg,
      approach rate: -0.677775 m/s,
      LOS rate: 0.002137 deg/s,
      cmd heading: 268.532657 deg,
      new cmd heading: 268.535723 deg.

2025-01-08T17:28:22.660Z,1736357302.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686832 target range: 185.199997 and range: 185.20 m.
2025-01-08T17:28:22.714Z,1736357302.714 [DAT](INFO): DAT read: 17:28:20.8511 LVL= 19536, 25569, 19522, 26547, AGC= 63, IDX=  79,-0.36,-1.877, 2.787,-2.098,-2.415, PHS= 0.625,-1.035, 0.314, RAW= 139.8,   1.3, CAL= 144.2,  -7.4, ROT=   5.8,   7.4

2025-01-08T17:28:22.716Z,1736357302.716 [DAT](INFO): got valid direction response:
 17:28:20.8511 LVL= 19536, 25569, 19522, 26547, AGC= 63, IDX=  79,-0.36,-1.877, 2.787,-2.098,-2.415, PHS= 0.625,-1.035, 0.314, RAW= 139.8,   1.3, CAL= 144.2,  -7.4, ROT=   5.8,   7.4

2025-01-08T17:28:22.717Z,1736357302.717 [DAT](INFO): DAT read: Bearing   5.8,   7.4 (Local)

2025-01-08T17:28:22.718Z,1736357302.718 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.8,   7.4 (Local)

2025-01-08T17:28:22.719Z,1736357302.719 [DAT](INFO): DAT read: Range 10 to 50 : 158.4 m  (Round-trip  211.2 ms) speed  0.6 m/s

2025-01-08T17:28:22.720Z,1736357302.720 [DAT](INFO): DAT read: user:175>

2025-01-08T17:28:22.721Z,1736357302.721 [DAT](INFO): DAT read: Tx time:17:28:21.9358

2025-01-08T17:28:22.721Z,1736357302.721 [DAT](INFO): Ping request sent.
2025-01-08T17:28:22.721Z,1736357302.721 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:28:22.722Z,1736357302.722 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:28:22.722Z,1736357302.722 [DAT](INFO): direction in FSK: [0.986595,0.100215,-0.128796]
2025-01-08T17:28:22.723Z,1736357302.723 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:22.739Z,1736357302.739 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:22.755Z,1736357302.755 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:22.756Z,1736357302.756 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:22.959Z,1736357302.959 [DAT](INFO): DAT read: TxSync time:17:28:21.9350

2025-01-08T17:28:22.990Z,1736357302.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:23.022Z,1736357303.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 158.399994 m,
 deltaT: 3.780585 s,
 deltaX: -26.800003 m,
 approachRate: -7.088851 m/s,
 rangeRepo size: 4
2025-01-08T17:28:23.023Z,1736357303.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-01-08T17:28:23.026Z,1736357303.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.199997 m,
      nav range: 163.296829 m,
      bearing: 274.204135 deg,
      approach rate: -0.708192 m/s,
      LOS rate: 0.002494 deg/s,
      cmd heading: 268.535717 deg,
      new cmd heading: 268.538476 deg.

2025-01-08T17:28:23.035Z,1736357303.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686881 target range: 185.199997 and range: 185.20 m.
2025-01-08T17:28:23.416Z,1736357303.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:23.425Z,1736357303.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-01-08T17:28:23.428Z,1736357303.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.199997 m,
      nav range: 162.990967 m,
      bearing: 274.206423 deg,
      approach rate: -0.758644 m/s,
      LOS rate: 0.005686 deg/s,
      cmd heading: 268.538477 deg,
      new cmd heading: 268.545354 deg.

2025-01-08T17:28:23.429Z,1736357303.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687001 target range: 185.199997 and range: 185.20 m.
2025-01-08T17:28:23.812Z,1736357303.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:23.821Z,1736357303.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-01-08T17:28:23.825Z,1736357303.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.199997 m,
      nav range: 162.705093 m,
      bearing: 274.208569 deg,
      approach rate: -0.721214 m/s,
      LOS rate: 0.005424 deg/s,
      cmd heading: 268.545362 deg,
      new cmd heading: 268.551812 deg.

2025-01-08T17:28:23.826Z,1736357303.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687113 target range: 185.199997 and range: 185.20 m.
2025-01-08T17:28:24.208Z,1736357304.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:24.221Z,1736357304.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-01-08T17:28:24.224Z,1736357304.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.199997 m,
      nav range: 162.420929 m,
      bearing: 274.210858 deg,
      approach rate: -0.709331 m/s,
      LOS rate: 0.005725 deg/s,
      cmd heading: 268.551809 deg,
      new cmd heading: 268.558690 deg.

2025-01-08T17:28:24.225Z,1736357304.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687233 target range: 185.199997 and range: 185.20 m.
2025-01-08T17:28:24.646Z,1736357304.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:24.653Z,1736357304.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:24.655Z,1736357304.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-01-08T17:28:24.659Z,1736357304.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.199997 m,
      nav range: 162.103439 m,
      bearing: 274.215891 deg,
      approach rate: -0.732238 m/s,
      LOS rate: 0.011629 deg/s,
      cmd heading: 268.558694 deg,
      new cmd heading: 268.573821 deg.

2025-01-08T17:28:24.660Z,1736357304.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687498 target range: 185.199997 and range: 185.20 m.
2025-01-08T17:28:24.725Z,1736357304.725 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:28:24.725Z,1736357304.725 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:28:24.726Z,1736357304.726 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:28:24.976Z,1736357304.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255039
2025-01-08T17:28:25.016Z,1736357305.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:25.025Z,1736357305.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-01-08T17:28:25.028Z,1736357305.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.199997 m,
      nav range: 161.836029 m,
      bearing: 274.220148 deg,
      approach rate: -0.723051 m/s,
      LOS rate: 0.011529 deg/s,
      cmd heading: 268.573830 deg,
      new cmd heading: 268.586621 deg.

2025-01-08T17:28:25.029Z,1736357305.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687721 target range: 185.199997 and range: 185.20 m.
2025-01-08T17:28:25.231Z,1736357305.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509551
2025-01-08T17:28:25.445Z,1736357305.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:25.453Z,1736357305.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-01-08T17:28:25.456Z,1736357305.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.199997 m,
      nav range: 161.528000 m,
      bearing: 274.225552 deg,
      approach rate: -0.719472 m/s,
      LOS rate: 0.012647 deg/s,
      cmd heading: 268.586616 deg,
      new cmd heading: 268.602860 deg.

2025-01-08T17:28:25.457Z,1736357305.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688004 target range: 185.199997 and range: 185.20 m.
2025-01-08T17:28:25.480Z,1736357305.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759050
2025-01-08T17:28:25.734Z,1736357305.734 [DAT](INFO): DAT read: Rx Time:17:28:24.5806

2025-01-08T17:28:25.735Z,1736357305.735 [DAT](INFO): Rx dataTimestamp_ set to:1736357305.734366
2025-01-08T17:28:25.736Z,1736357305.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014802
2025-01-08T17:28:25.827Z,1736357305.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:25.836Z,1736357305.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-01-08T17:28:25.839Z,1736357305.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.199997 m,
      nav range: 161.253601 m,
      bearing: 274.230501 deg,
      approach rate: -0.715710 m/s,
      LOS rate: 0.012930 deg/s,
      cmd heading: 268.602872 deg,
      new cmd heading: 268.617744 deg.

2025-01-08T17:28:25.840Z,1736357305.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688264 target range: 185.199997 and range: 185.20 m.
2025-01-08T17:28:25.984Z,1736357305.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262963
2025-01-08T17:28:26.227Z,1736357306.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:26.236Z,1736357306.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515150
2025-01-08T17:28:26.237Z,1736357306.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.20 m.
2025-01-08T17:28:26.240Z,1736357306.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 185.199997 m,
      nav range: 160.966446 m,
      bearing: 274.235723 deg,
      approach rate: -0.716012 m/s,
      LOS rate: 0.013043 deg/s,
      cmd heading: 268.617734 deg,
      new cmd heading: 268.633427 deg.

2025-01-08T17:28:26.241Z,1736357306.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688538 target range: 185.199997 and range: 185.20 m.
2025-01-08T17:28:26.495Z,1736357306.495 [DAT](INFO): DAT read: 17:28:24.5806 LVL= 29120, 31841, 25538, 30803, AGC= 63, IDX= 240,-0.04, 2.671, 1.836, 2.816, 1.684, PHS= 1.075, 0.199, 1.130, RAW= 153.0, -43.2, CAL= 156.1, -44.8, ROT= 353.9,  44.8

2025-01-08T17:28:26.496Z,1736357306.496 [DAT](INFO): got valid direction response:
 17:28:24.5806 LVL= 29120, 31841, 25538, 30803, AGC= 63, IDX= 240,-0.04, 2.671, 1.836, 2.816, 1.684, PHS= 1.075, 0.199, 1.130, RAW= 153.0, -43.2, CAL= 156.1, -44.8, ROT= 353.9,  44.8

2025-01-08T17:28:26.497Z,1736357306.497 [DAT](INFO): DAT read: Bearing 353.9,  44.8 (Local)

2025-01-08T17:28:26.497Z,1736357306.497 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.9,  44.8 (Local)

2025-01-08T17:28:26.499Z,1736357306.499 [DAT](INFO): DAT read: Range 10 to 50 : 180.5 m  (Round-trip  240.7 ms) speed  0.5 m/s

2025-01-08T17:28:26.501Z,1736357306.501 [DAT](INFO): DAT read: user:176>

2025-01-08T17:28:26.502Z,1736357306.502 [DAT](INFO): DAT read: Tx time:17:28:25.6858

2025-01-08T17:28:26.503Z,1736357306.503 [DAT](INFO): Ping request sent.
2025-01-08T17:28:26.503Z,1736357306.503 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:28:26.503Z,1736357306.503 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:28:26.504Z,1736357306.504 [DAT](INFO): direction in FSK: [0.705553,-0.075402,-0.704634]
2025-01-08T17:28:26.504Z,1736357306.504 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:26.505Z,1736357306.505 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:26.508Z,1736357306.508 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:26.509Z,1736357306.509 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:26.715Z,1736357306.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:26.741Z,1736357306.741 [DAT](INFO): DAT read: TxSync time:17:28:25.6850

2025-01-08T17:28:26.748Z,1736357306.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 180.500000 m,
      deltaT: 7.563886 s,
      deltaX: -4.699997 m,
      approachRate: -0.621373 m/s,
      rangeRepo size: 4

2025-01-08T17:28:26.750Z,1736357306.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 180.500000 m,
      bearing: 269.661340 deg,
      lat: 36.904219 deg,
      lon: -122.119118 deg,
      deltaT: 7.563886 s,
      deltaX: -4.699997 m,
      approachRate: -0.621373 m/s,
      posRepo size: 4

2025-01-08T17:28:26.751Z,1736357306.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.50 m.
2025-01-08T17:28:26.763Z,1736357306.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.500000 m,
      nav range: 154.648407 m,
      bearing: 275.059719 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013043 deg/s,
      cmd heading: 268.633416 deg,
      new cmd heading: 268.653056 deg.

2025-01-08T17:28:26.764Z,1736357306.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688880 target range: 180.500000 and range: 180.50 m.
2025-01-08T17:28:27.039Z,1736357307.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:27.046Z,1736357307.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:27.049Z,1736357307.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.50 m.
2025-01-08T17:28:27.051Z,1736357307.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.500000 m,
      nav range: 154.419876 m,
      bearing: 275.065437 deg,
      approach rate: -0.738750 m/s,
      LOS rate: 0.018512 deg/s,
      cmd heading: 268.653060 deg,
      new cmd heading: 268.670240 deg.

2025-01-08T17:28:27.052Z,1736357307.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689180 target range: 180.500000 and range: 180.50 m.
2025-01-08T17:28:27.245Z,1736357307.245 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:28:27.245Z,1736357307.245 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:28:27.245Z,1736357307.245 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:28:27.491Z,1736357307.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:27.496Z,1736357307.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993691
2025-01-08T17:28:27.501Z,1736357307.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.50 m.
2025-01-08T17:28:27.504Z,1736357307.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.500000 m,
      nav range: 154.111435 m,
      bearing: 275.076093 deg,
      approach rate: -0.681125 m/s,
      LOS rate: 0.023580 deg/s,
      cmd heading: 268.670245 deg,
      new cmd heading: 268.702278 deg.

2025-01-08T17:28:27.505Z,1736357307.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689739 target range: 180.500000 and range: 180.50 m.
2025-01-08T17:28:27.749Z,1736357307.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245957
2025-01-08T17:28:27.840Z,1736357307.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:27.850Z,1736357307.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.50 m.
2025-01-08T17:28:27.853Z,1736357307.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.500000 m,
      nav range: 153.873642 m,
      bearing: 275.084506 deg,
      approach rate: -0.682891 m/s,
      LOS rate: 0.024196 deg/s,
      cmd heading: 268.702265 deg,
      new cmd heading: 268.727541 deg.

2025-01-08T17:28:27.854Z,1736357307.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690180 target range: 180.500000 and range: 180.50 m.
2025-01-08T17:28:28.001Z,1736357308.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498194
2025-01-08T17:28:28.251Z,1736357308.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:28.252Z,1736357308.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749674
2025-01-08T17:28:28.261Z,1736357308.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.50 m.
2025-01-08T17:28:28.264Z,1736357308.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.500000 m,
      nav range: 153.592850 m,
      bearing: 275.094289 deg,
      approach rate: -0.682940 m/s,
      LOS rate: 0.023838 deg/s,
      cmd heading: 268.727536 deg,
      new cmd heading: 268.756939 deg.

2025-01-08T17:28:28.265Z,1736357308.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690693 target range: 180.500000 and range: 180.50 m.
2025-01-08T17:28:28.505Z,1736357308.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002284
2025-01-08T17:28:28.666Z,1736357308.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:28.696Z,1736357308.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.50 m.
2025-01-08T17:28:28.705Z,1736357308.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.500000 m,
      nav range: 153.317627 m,
      bearing: 275.103862 deg,
      approach rate: -0.664709 m/s,
      LOS rate: 0.023161 deg/s,
      cmd heading: 268.756934 deg,
      new cmd heading: 268.785703 deg.

2025-01-08T17:28:28.706Z,1736357308.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691195 target range: 180.500000 and range: 180.50 m.
2025-01-08T17:28:28.756Z,1736357308.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253792
2025-01-08T17:28:29.009Z,1736357309.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506259
2025-01-08T17:28:29.049Z,1736357309.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:29.068Z,1736357309.068 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:29.070Z,1736357309.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.50 m.
2025-01-08T17:28:29.077Z,1736357309.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.500000 m,
      nav range: 153.064270 m,
      bearing: 275.112517 deg,
      approach rate: -0.641337 m/s,
      LOS rate: 0.021946 deg/s,
      cmd heading: 268.785702 deg,
      new cmd heading: 268.811711 deg.

2025-01-08T17:28:29.078Z,1736357309.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691649 target range: 180.500000 and range: 180.50 m.
2025-01-08T17:28:29.263Z,1736357309.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759499
2025-01-08T17:28:29.490Z,1736357309.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:29.512Z,1736357309.512 [DAT](INFO): DAT read: Rx Time:17:28:28.3277

2025-01-08T17:28:29.513Z,1736357309.513 [DAT](INFO): Rx dataTimestamp_ set to:1736357309.512627
2025-01-08T17:28:29.513Z,1736357309.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010791
2025-01-08T17:28:29.524Z,1736357309.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.50 m.
2025-01-08T17:28:29.531Z,1736357309.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.500000 m,
      nav range: 152.778046 m,
      bearing: 275.121026 deg,
      approach rate: -0.636722 m/s,
      LOS rate: 0.018965 deg/s,
      cmd heading: 268.811712 deg,
      new cmd heading: 268.837287 deg.

2025-01-08T17:28:29.532Z,1736357309.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692096 target range: 180.500000 and range: 180.50 m.
2025-01-08T17:28:29.764Z,1736357309.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261534
2025-01-08T17:28:29.856Z,1736357309.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:29.866Z,1736357309.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.50 m.
2025-01-08T17:28:29.869Z,1736357309.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.500000 m,
      nav range: 152.539841 m,
      bearing: 275.127882 deg,
      approach rate: -0.688245 m/s,
      LOS rate: 0.019841 deg/s,
      cmd heading: 268.837284 deg,
      new cmd heading: 268.857885 deg.

2025-01-08T17:28:29.870Z,1736357309.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692455 target range: 180.500000 and range: 180.50 m.
2025-01-08T17:28:30.020Z,1736357310.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517391
2025-01-08T17:28:30.279Z,1736357310.279 [DAT](INFO): DAT read: 17:28:28.3277 LVL= 20272, 31345, 22178, 27619, AGC= 65, IDX= 414, 0.31,-2.345, 2.909,-2.221, 2.876, PHS= 1.151, 0.080, 1.183, RAW= 151.5, -38.1, CAL= 154.0, -41.8, ROT= 356.0,  41.8

2025-01-08T17:28:30.281Z,1736357310.281 [DAT](INFO): got valid direction response:
 17:28:28.3277 LVL= 20272, 31345, 22178, 27619, AGC= 65, IDX= 414, 0.31,-2.345, 2.909,-2.221, 2.876, PHS= 1.151, 0.080, 1.183, RAW= 151.5, -38.1, CAL= 154.0, -41.8, ROT= 356.0,  41.8

2025-01-08T17:28:30.282Z,1736357310.282 [DAT](INFO): DAT read: Bearing 356.0,  41.8 (Local)

2025-01-08T17:28:30.282Z,1736357310.282 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.0,  41.8 (Local)

2025-01-08T17:28:30.296Z,1736357310.296 [DAT](INFO): DAT read: Range 10 to 50 : 178.2 m  (Round-trip  237.7 ms) speed  0.3 m/s

2025-01-08T17:28:30.297Z,1736357310.297 [DAT](INFO): DAT read: user:177>

2025-01-08T17:28:30.298Z,1736357310.298 [DAT](INFO): DAT read: Tx time:17:28:29.4358

2025-01-08T17:28:30.298Z,1736357310.298 [DAT](INFO): Ping request sent.
2025-01-08T17:28:30.298Z,1736357310.298 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:28:30.300Z,1736357310.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:30.303Z,1736357310.303 [DAT](INFO): DAT read: TxSync time:17:28:29.4351

2025-01-08T17:28:30.304Z,1736357310.304 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:28:30.305Z,1736357310.305 [DAT](INFO): direction in FSK: [0.743660,-0.052002,-0.666532]
2025-01-08T17:28:30.305Z,1736357310.305 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:30.305Z,1736357310.305 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:30.329Z,1736357310.329 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:30.329Z,1736357310.329 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:30.395Z,1736357310.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 178.199997 m,
      deltaT: 3.781202 s,
      deltaX: -2.300003 m,
      approachRate: -0.608273 m/s,
      rangeRepo size: 4

2025-01-08T17:28:30.425Z,1736357310.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 178.199997 m,
      bearing: 271.614179 deg,
      lat: 36.904219 deg,
      lon: -122.119106 deg,
      deltaT: 3.781202 s,
      deltaX: -2.300003 m,
      approachRate: -0.608273 m/s,
      posRepo size: 4

2025-01-08T17:28:30.433Z,1736357310.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.20 m.
2025-01-08T17:28:30.448Z,1736357310.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.199997 m,
      nav range: 151.164200 m,
      bearing: 275.173093 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019841 deg/s,
      cmd heading: 268.857884 deg,
      new cmd heading: 268.887520 deg.

2025-01-08T17:28:30.449Z,1736357310.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692973 target range: 178.199997 and range: 178.20 m.
2025-01-08T17:28:30.781Z,1736357310.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:30.789Z,1736357310.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.20 m.
2025-01-08T17:28:30.794Z,1736357310.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.199997 m,
      nav range: 150.845932 m,
      bearing: 275.179675 deg,
      approach rate: -0.747655 m/s,
      LOS rate: 0.015493 deg/s,
      cmd heading: 268.887527 deg,
      new cmd heading: 268.907312 deg.

2025-01-08T17:28:30.795Z,1736357310.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693318 target range: 178.199997 and range: 178.20 m.
2025-01-08T17:28:31.163Z,1736357311.163 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:31.185Z,1736357311.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:31.192Z,1736357311.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.20 m.
2025-01-08T17:28:31.195Z,1736357311.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.199997 m,
      nav range: 150.592926 m,
      bearing: 275.185048 deg,
      approach rate: -0.635716 m/s,
      LOS rate: 0.013523 deg/s,
      cmd heading: 268.907307 deg,
      new cmd heading: 268.923453 deg.

2025-01-08T17:28:31.200Z,1736357311.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693600 target range: 178.199997 and range: 178.20 m.
2025-01-08T17:28:31.278Z,1736357311.278 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:28:31.278Z,1736357311.278 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:28:31.278Z,1736357311.278 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:28:31.528Z,1736357311.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230011
2025-01-08T17:28:31.550Z,1736357311.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:31.559Z,1736357311.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.20 m.
2025-01-08T17:28:31.567Z,1736357311.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.199997 m,
      nav range: 150.334747 m,
      bearing: 275.188157 deg,
      approach rate: -0.696378 m/s,
      LOS rate: 0.008402 deg/s,
      cmd heading: 268.923454 deg,
      new cmd heading: 268.932798 deg.

2025-01-08T17:28:31.569Z,1736357311.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693763 target range: 178.199997 and range: 178.20 m.
2025-01-08T17:28:31.784Z,1736357311.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485193
2025-01-08T17:28:31.932Z,1736357311.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:31.942Z,1736357311.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.20 m.
2025-01-08T17:28:31.945Z,1736357311.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.199997 m,
      nav range: 150.078934 m,
      bearing: 275.191093 deg,
      approach rate: -0.667689 m/s,
      LOS rate: 0.007675 deg/s,
      cmd heading: 268.932797 deg,
      new cmd heading: 268.941619 deg.

2025-01-08T17:28:31.946Z,1736357311.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693917 target range: 178.199997 and range: 178.20 m.
2025-01-08T17:28:32.033Z,1736357312.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734845
2025-01-08T17:28:32.284Z,1736357312.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986049
2025-01-08T17:28:32.336Z,1736357312.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:32.346Z,1736357312.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.20 m.
2025-01-08T17:28:32.372Z,1736357312.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.199997 m,
      nav range: 149.809311 m,
      bearing: 275.193982 deg,
      approach rate: -0.667486 m/s,
      LOS rate: 0.007166 deg/s,
      cmd heading: 268.941622 deg,
      new cmd heading: 268.950305 deg.

2025-01-08T17:28:32.373Z,1736357312.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694068 target range: 178.199997 and range: 178.20 m.
2025-01-08T17:28:32.536Z,1736357312.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237922
2025-01-08T17:28:32.784Z,1736357312.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:32.788Z,1736357312.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489974
2025-01-08T17:28:32.796Z,1736357312.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.20 m.
2025-01-08T17:28:32.798Z,1736357312.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.199997 m,
      nav range: 149.504379 m,
      bearing: 275.195211 deg,
      approach rate: -0.676989 m/s,
      LOS rate: 0.002735 deg/s,
      cmd heading: 268.950310 deg,
      new cmd heading: 268.954005 deg.

2025-01-08T17:28:32.799Z,1736357312.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694133 target range: 178.199997 and range: 178.20 m.
2025-01-08T17:28:33.040Z,1736357313.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741931
2025-01-08T17:28:33.145Z,1736357313.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:33.153Z,1736357313.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.20 m.
2025-01-08T17:28:33.177Z,1736357313.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.199997 m,
      nav range: 149.259155 m,
      bearing: 275.195967 deg,
      approach rate: -0.685067 m/s,
      LOS rate: 0.002116 deg/s,
      cmd heading: 268.953998 deg,
      new cmd heading: 268.956271 deg.

2025-01-08T17:28:33.178Z,1736357313.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694172 target range: 178.199997 and range: 178.20 m.
2025-01-08T17:28:33.292Z,1736357313.292 [DAT](INFO): DAT read: Rx Time:17:28:32.0748

2025-01-08T17:28:33.293Z,1736357313.293 [DAT](INFO): Rx dataTimestamp_ set to:1736357313.292618
2025-01-08T17:28:33.293Z,1736357313.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995091
2025-01-08T17:28:33.544Z,1736357313.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245996
2025-01-08T17:28:33.580Z,1736357313.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:33.587Z,1736357313.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:33.589Z,1736357313.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.20 m.
2025-01-08T17:28:33.592Z,1736357313.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.199997 m,
      nav range: 148.950714 m,
      bearing: 275.195318 deg,
      approach rate: -0.708127 m/s,
      LOS rate: -0.001495 deg/s,
      cmd heading: 268.956266 deg,
      new cmd heading: 268.954313 deg.

2025-01-08T17:28:33.594Z,1736357313.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694139 target range: 178.199997 and range: 178.20 m.
2025-01-08T17:28:33.823Z,1736357313.823 [DAT](INFO): DAT read: 17:28:32.0748 LVL= 26816, 32753, 17858, 28723, AGC= 61, IDX=  68, 0.33, 0.084,-1.324,-0.044,-0.458, PHS= 0.631,-0.819, 0.411, RAW= 141.9,  -3.3, CAL= 147.0, -12.5, ROT=   3.0,  12.5

2025-01-08T17:28:33.834Z,1736357313.834 [DAT](INFO): got valid direction response:
 17:28:32.0748 LVL= 26816, 32753, 17858, 28723, AGC= 61, IDX=  68, 0.33, 0.084,-1.324,-0.044,-0.458, PHS= 0.631,-0.819, 0.411, RAW= 141.9,  -3.3, CAL= 147.0, -12.5, ROT=   3.0,  12.5

2025-01-08T17:28:33.835Z,1736357313.835 [DAT](INFO): DAT read: Bearing   3.0,  12.5 (Local)

2025-01-08T17:28:33.836Z,1736357313.836 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.0,  12.5 (Local)

2025-01-08T17:28:33.838Z,1736357313.838 [DAT](INFO): DAT read: Range 10 to 50 : 176.0 m  (Round-trip  234.7 ms) speed  0.0 m/s

2025-01-08T17:28:33.838Z,1736357313.838 [DAT](INFO): DAT read: user:178>

2025-01-08T17:28:33.864Z,1736357313.864 [DAT](INFO): DAT read: Tx time:17:28:33.1875

2025-01-08T17:28:33.865Z,1736357313.865 [DAT](INFO): Ping request sent.
2025-01-08T17:28:33.865Z,1736357313.865 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:28:33.865Z,1736357313.865 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:28:33.866Z,1736357313.866 [DAT](INFO): direction in FSK: [0.974958,0.051095,-0.216440]
2025-01-08T17:28:33.866Z,1736357313.866 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:33.867Z,1736357313.867 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:33.878Z,1736357313.878 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:33.879Z,1736357313.879 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:33.967Z,1736357313.967 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:34.010Z,1736357314.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 176.000000 m,
      deltaT: 3.528165 s,
      deltaX: -2.199997 m,
      approachRate: -0.623553 m/s,
      rangeRepo size: 4

2025-01-08T17:28:34.024Z,1736357314.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 176.000000 m,
      bearing: 273.752281 deg,
      lat: 36.904199 deg,
      lon: -122.119118 deg,
      deltaT: 3.528165 s,
      deltaX: -2.199997 m,
      approachRate: -0.623553 m/s,
      posRepo size: 4

2025-01-08T17:28:34.025Z,1736357314.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.00 m.
2025-01-08T17:28:34.032Z,1736357314.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.000000 m,
      nav range: 149.583023 m,
      bearing: 274.320765 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001495 deg/s,
      cmd heading: 268.954326 deg,
      new cmd heading: 268.952441 deg.

2025-01-08T17:28:34.033Z,1736357314.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694106 target range: 176.000000 and range: 176.00 m.
2025-01-08T17:28:34.048Z,1736357314.048 [DAT](INFO): DAT read: TxSync time:17:28:33.1867

2025-01-08T17:28:34.361Z,1736357314.361 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:34.369Z,1736357314.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.00 m.
2025-01-08T17:28:34.372Z,1736357314.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.000000 m,
      nav range: 149.303940 m,
      bearing: 274.318773 deg,
      approach rate: -0.775710 m/s,
      LOS rate: -0.005547 deg/s,
      cmd heading: 268.952441 deg,
      new cmd heading: 268.946453 deg.

2025-01-08T17:28:34.373Z,1736357314.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694001 target range: 176.000000 and range: 176.00 m.
2025-01-08T17:28:34.798Z,1736357314.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:34.809Z,1736357314.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.00 m.
2025-01-08T17:28:34.812Z,1736357314.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.000000 m,
      nav range: 148.990662 m,
      bearing: 274.318067 deg,
      approach rate: -0.712085 m/s,
      LOS rate: -0.001609 deg/s,
      cmd heading: 268.946458 deg,
      new cmd heading: 268.944334 deg.

2025-01-08T17:28:34.813Z,1736357314.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693964 target range: 176.000000 and range: 176.00 m.
2025-01-08T17:28:35.164Z,1736357315.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:35.177Z,1736357315.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.00 m.
2025-01-08T17:28:35.181Z,1736357315.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.000000 m,
      nav range: 148.728195 m,
      bearing: 274.317658 deg,
      approach rate: -0.712477 m/s,
      LOS rate: -0.001111 deg/s,
      cmd heading: 268.944327 deg,
      new cmd heading: 268.943098 deg.

2025-01-08T17:28:35.182Z,1736357315.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693943 target range: 176.000000 and range: 176.00 m.
2025-01-08T17:28:35.605Z,1736357315.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:35.613Z,1736357315.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:35.615Z,1736357315.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.00 m.
2025-01-08T17:28:35.617Z,1736357315.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.000000 m,
      nav range: 148.409744 m,
      bearing: 274.317310 deg,
      approach rate: -0.728584 m/s,
      LOS rate: -0.000798 deg/s,
      cmd heading: 268.943097 deg,
      new cmd heading: 268.942051 deg.

2025-01-08T17:28:35.618Z,1736357315.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693924 target range: 176.000000 and range: 176.00 m.
2025-01-08T17:28:35.812Z,1736357315.812 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:28:35.813Z,1736357315.813 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:28:35.813Z,1736357315.813 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:28:35.872Z,1736357315.872 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:28:35.969Z,1736357315.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:35.978Z,1736357315.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.00 m.
2025-01-08T17:28:35.982Z,1736357315.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.000000 m,
      nav range: 148.146759 m,
      bearing: 274.316795 deg,
      approach rate: -0.723574 m/s,
      LOS rate: -0.001420 deg/s,
      cmd heading: 268.942059 deg,
      new cmd heading: 268.940510 deg.

2025-01-08T17:28:35.984Z,1736357315.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693897 target range: 176.000000 and range: 176.00 m.
2025-01-08T17:28:36.066Z,1736357316.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.200787
2025-01-08T17:28:36.316Z,1736357316.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.451438
2025-01-08T17:28:36.387Z,1736357316.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:36.408Z,1736357316.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.00 m.
2025-01-08T17:28:36.417Z,1736357316.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.000000 m,
      nav range: 147.844437 m,
      bearing: 274.316050 deg,
      approach rate: -0.710613 m/s,
      LOS rate: -0.001754 deg/s,
      cmd heading: 268.940502 deg,
      new cmd heading: 268.938264 deg.

2025-01-08T17:28:36.418Z,1736357316.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693858 target range: 176.000000 and range: 176.00 m.
2025-01-08T17:28:36.568Z,1736357316.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.703467
2025-01-08T17:28:36.797Z,1736357316.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:36.805Z,1736357316.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.00 m.
2025-01-08T17:28:36.809Z,1736357316.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.000000 m,
      nav range: 147.555023 m,
      bearing: 274.318002 deg,
      approach rate: -0.720694 m/s,
      LOS rate: 0.004870 deg/s,
      cmd heading: 268.938261 deg,
      new cmd heading: 268.944128 deg.

2025-01-08T17:28:36.810Z,1736357316.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693961 target range: 176.000000 and range: 176.00 m.
2025-01-08T17:28:36.820Z,1736357316.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.955499
2025-01-08T17:28:36.876Z,1736357316.876 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:28:37.072Z,1736357317.072 [DAT](INFO): DAT read: Rx Time:17:28:35.8229

2025-01-08T17:28:37.073Z,1736357317.073 [DAT](INFO): Rx dataTimestamp_ set to:1736357317.072455
2025-01-08T17:28:37.073Z,1736357317.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.208495
2025-01-08T17:28:37.198Z,1736357317.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:37.207Z,1736357317.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.00 m.
2025-01-08T17:28:37.210Z,1736357317.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.000000 m,
      nav range: 147.271011 m,
      bearing: 274.319862 deg,
      approach rate: -0.707095 m/s,
      LOS rate: 0.004640 deg/s,
      cmd heading: 268.944135 deg,
      new cmd heading: 268.949727 deg.

2025-01-08T17:28:37.212Z,1736357317.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694058 target range: 176.000000 and range: 176.00 m.
2025-01-08T17:28:37.324Z,1736357317.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.459587
2025-01-08T17:28:37.582Z,1736357317.582 [DAT](INFO): DAT read: 17:28:35.8229 LVL= 22480, 27569, 17794, 23843, AGC= 61, IDX= 413,-0.01, 2.940, 2.016, 2.996, 1.801, PHS= 1.227, 0.262, 1.193, RAW= 148.2, -45.0, CAL= 152.3, -45.5, ROT= 357.7,  45.5

2025-01-08T17:28:37.584Z,1736357317.584 [DAT](INFO): got valid direction response:
 17:28:35.8229 LVL= 22480, 27569, 17794, 23843, AGC= 61, IDX= 413,-0.01, 2.940, 2.016, 2.996, 1.801, PHS= 1.227, 0.262, 1.193, RAW= 148.2, -45.0, CAL= 152.3, -45.5, ROT= 357.7,  45.5

2025-01-08T17:28:37.585Z,1736357317.585 [DAT](INFO): DAT read: Bearing 357.7,  45.5 (Local)

2025-01-08T17:28:37.585Z,1736357317.585 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.7,  45.5 (Local)

2025-01-08T17:28:37.586Z,1736357317.586 [DAT](INFO): DAT read: Range 10 to 50 : 173.4 m  (Round-trip  231.3 ms) speed  0.6 m/s

2025-01-08T17:28:37.587Z,1736357317.587 [DAT](INFO): DAT read: user:179>

2025-01-08T17:28:37.588Z,1736357317.588 [DAT](INFO): DAT read: Tx time:17:28:36.9359

2025-01-08T17:28:37.588Z,1736357317.588 [DAT](INFO): Ping request sent.
2025-01-08T17:28:37.588Z,1736357317.588 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:28:37.589Z,1736357317.589 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:28:37.590Z,1736357317.590 [DAT](INFO): direction in FSK: [0.700345,-0.028129,-0.713250]
2025-01-08T17:28:37.590Z,1736357317.590 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:37.590Z,1736357317.590 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:37.598Z,1736357317.598 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:37.598Z,1736357317.598 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:37.671Z,1736357317.671 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:37.727Z,1736357317.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 173.399994 m,
      deltaT: 3.778795 s,
      deltaX: -2.600006 m,
      approachRate: -0.688052 m/s,
      rangeRepo size: 4

2025-01-08T17:28:37.733Z,1736357317.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 173.399994 m,
      bearing: 274.382823 deg,
      lat: 36.904183 deg,
      lon: -122.118905 deg,
      deltaT: 3.778795 s,
      deltaX: -2.600006 m,
      approachRate: -0.688052 m/s,
      posRepo size: 4

2025-01-08T17:28:37.734Z,1736357317.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.40 m.
2025-01-08T17:28:37.737Z,1736357317.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.399994 m,
      nav range: 127.905594 m,
      bearing: 274.186008 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004640 deg/s,
      cmd heading: 268.949736 deg,
      new cmd heading: 268.956859 deg.

2025-01-08T17:28:37.738Z,1736357317.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694183 target range: 173.399994 and range: 173.40 m.
2025-01-08T17:28:37.829Z,1736357317.829 [DAT](INFO): DAT read: TxSync time:17:28:36.9351

2025-01-08T17:28:38.037Z,1736357318.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:38.052Z,1736357318.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:38.054Z,1736357318.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.40 m.
2025-01-08T17:28:38.061Z,1736357318.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.399994 m,
      nav range: 127.643265 m,
      bearing: 274.190111 deg,
      approach rate: -0.781260 m/s,
      LOS rate: 0.012244 deg/s,
      cmd heading: 268.956867 deg,
      new cmd heading: 268.969200 deg.

2025-01-08T17:28:38.063Z,1736357318.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694398 target range: 173.399994 and range: 173.40 m.
2025-01-08T17:28:38.080Z,1736357318.080 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:28:38.080Z,1736357318.080 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:28:38.081Z,1736357318.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:28:38.332Z,1736357318.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743921
2025-01-08T17:28:38.428Z,1736357318.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:38.436Z,1736357318.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.40 m.
2025-01-08T17:28:38.439Z,1736357318.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.399994 m,
      nav range: 127.369019 m,
      bearing: 274.194585 deg,
      approach rate: -0.717792 m/s,
      LOS rate: 0.011734 deg/s,
      cmd heading: 268.969189 deg,
      new cmd heading: 268.982638 deg.

2025-01-08T17:28:38.460Z,1736357318.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694633 target range: 173.399994 and range: 173.40 m.
2025-01-08T17:28:38.584Z,1736357318.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996032
2025-01-08T17:28:38.836Z,1736357318.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248106
2025-01-08T17:28:38.872Z,1736357318.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:38.902Z,1736357318.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.40 m.
2025-01-08T17:28:38.913Z,1736357318.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.399994 m,
      nav range: 127.068985 m,
      bearing: 274.201316 deg,
      approach rate: -0.644556 m/s,
      LOS rate: 0.014494 deg/s,
      cmd heading: 268.982630 deg,
      new cmd heading: 269.002871 deg.

2025-01-08T17:28:38.914Z,1736357318.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694986 target range: 173.399994 and range: 173.40 m.
2025-01-08T17:28:39.088Z,1736357319.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499946
2025-01-08T17:28:39.269Z,1736357319.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:39.283Z,1736357319.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.40 m.
2025-01-08T17:28:39.286Z,1736357319.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.399994 m,
      nav range: 126.801292 m,
      bearing: 274.207348 deg,
      approach rate: -0.702351 m/s,
      LOS rate: 0.015861 deg/s,
      cmd heading: 269.002875 deg,
      new cmd heading: 269.021011 deg.

2025-01-08T17:28:39.287Z,1736357319.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695302 target range: 173.399994 and range: 173.40 m.
2025-01-08T17:28:39.341Z,1736357319.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752950
2025-01-08T17:28:39.595Z,1736357319.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006209
2025-01-08T17:28:39.667Z,1736357319.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:39.677Z,1736357319.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.40 m.
2025-01-08T17:28:39.696Z,1736357319.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.399994 m,
      nav range: 126.535126 m,
      bearing: 274.216805 deg,
      approach rate: -0.676012 m/s,
      LOS rate: 0.024070 deg/s,
      cmd heading: 269.021016 deg,
      new cmd heading: 269.049447 deg.

2025-01-08T17:28:39.698Z,1736357319.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695799 target range: 173.399994 and range: 173.40 m.
2025-01-08T17:28:39.845Z,1736357319.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256199
2025-01-08T17:28:40.039Z,1736357320.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:40.049Z,1736357320.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.40 m.
2025-01-08T17:28:40.052Z,1736357320.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.399994 m,
      nav range: 126.287041 m,
      bearing: 274.225414 deg,
      approach rate: -0.666125 m/s,
      LOS rate: 0.023162 deg/s,
      cmd heading: 269.049457 deg,
      new cmd heading: 269.075335 deg.

2025-01-08T17:28:40.053Z,1736357320.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696250 target range: 173.399994 and range: 173.40 m.
2025-01-08T17:28:40.096Z,1736357320.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508102
2025-01-08T17:28:40.349Z,1736357320.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760886
2025-01-08T17:28:40.454Z,1736357320.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:40.461Z,1736357320.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:40.463Z,1736357320.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.40 m.
2025-01-08T17:28:40.466Z,1736357320.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.399994 m,
      nav range: 126.010193 m,
      bearing: 274.234864 deg,
      approach rate: -0.669421 m/s,
      LOS rate: 0.022900 deg/s,
      cmd heading: 269.075330 deg,
      new cmd heading: 269.103741 deg.

2025-01-08T17:28:40.467Z,1736357320.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696746 target range: 173.399994 and range: 173.40 m.
2025-01-08T17:28:40.600Z,1736357320.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012133
2025-01-08T17:28:40.852Z,1736357320.852 [DAT](INFO): DAT read: Rx Time:17:28:39.5687

2025-01-08T17:28:40.853Z,1736357320.853 [DAT](INFO): Rx dataTimestamp_ set to:1736357320.852560
2025-01-08T17:28:40.853Z,1736357320.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265087
2025-01-08T17:28:40.879Z,1736357320.879 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:40.888Z,1736357320.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.40 m.
2025-01-08T17:28:40.891Z,1736357320.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.399994 m,
      nav range: 125.729393 m,
      bearing: 274.245085 deg,
      approach rate: -0.660339 m/s,
      LOS rate: 0.024090 deg/s,
      cmd heading: 269.103743 deg,
      new cmd heading: 269.134475 deg.

2025-01-08T17:28:40.893Z,1736357320.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697283 target range: 173.399994 and range: 173.40 m.
2025-01-08T17:28:41.104Z,1736357321.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515918
2025-01-08T17:28:41.288Z,1736357321.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:41.321Z,1736357321.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.40 m.
2025-01-08T17:28:41.328Z,1736357321.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 173.399994 m,
      nav range: 125.459183 m,
      bearing: 274.254874 deg,
      approach rate: -0.624065 m/s,
      LOS rate: 0.022655 deg/s,
      cmd heading: 269.134479 deg,
      new cmd heading: 269.163907 deg.

2025-01-08T17:28:41.329Z,1736357321.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697796 target range: 173.399994 and range: 173.40 m.
2025-01-08T17:28:41.363Z,1736357321.363 [DAT](INFO): DAT read: 17:28:39.5687 LVL= 20656, 32753, 20370, 26659, AGC= 61, IDX= 416, 0.07, 2.598, 1.598, 2.725, 1.555, PHS= 1.131, 0.090, 1.167, RAW= 151.7, -38.6, CAL= 154.3, -42.0, ROT= 355.7,  42.0

2025-01-08T17:28:41.364Z,1736357321.364 [DAT](INFO): got valid direction response:
 17:28:39.5687 LVL= 20656, 32753, 20370, 26659, AGC= 61, IDX= 416, 0.07, 2.598, 1.598, 2.725, 1.555, PHS= 1.131, 0.090, 1.167, RAW= 151.7, -38.6, CAL= 154.3, -42.0, ROT= 355.7,  42.0

2025-01-08T17:28:41.365Z,1736357321.365 [DAT](INFO): DAT read: Bearing 355.7,  42.0 (Local)

2025-01-08T17:28:41.366Z,1736357321.366 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.7,  42.0 (Local)

2025-01-08T17:28:41.368Z,1736357321.368 [DAT](INFO): DAT read: Range 10 to 50 : 171.4 m  (Round-trip  228.6 ms) speed  0.2 m/s

2025-01-08T17:28:41.369Z,1736357321.369 [DAT](INFO): DAT read: user:180>

2025-01-08T17:28:41.369Z,1736357321.369 [DAT](INFO): DAT read: Tx time:17:28:40.6860

2025-01-08T17:28:41.370Z,1736357321.370 [DAT](INFO): Ping request sent.
2025-01-08T17:28:41.370Z,1736357321.370 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:28:41.370Z,1736357321.370 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:28:41.371Z,1736357321.371 [DAT](INFO): direction in FSK: [0.741053,-0.055720,-0.669131]
2025-01-08T17:28:41.371Z,1736357321.371 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:41.372Z,1736357321.372 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:41.377Z,1736357321.377 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:41.377Z,1736357321.377 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:41.612Z,1736357321.612 [DAT](INFO): DAT read: TxSync time:17:28:40.6852

2025-01-08T17:28:41.729Z,1736357321.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:41.760Z,1736357321.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 171.399994 m,
      deltaT: 3.780067 s,
      deltaX: -2.000000 m,
      approachRate: -0.529091 m/s,
      rangeRepo size: 4

2025-01-08T17:28:41.762Z,1736357321.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 171.399994 m,
      bearing: 272.087887 deg,
      lat: 36.904141 deg,
      lon: -122.118905 deg,
      deltaT: 3.780067 s,
      deltaX: -2.000000 m,
      approachRate: -0.529091 m/s,
      posRepo size: 4

2025-01-08T17:28:41.763Z,1736357321.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.40 m.
2025-01-08T17:28:41.774Z,1736357321.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.399994 m,
      nav range: 124.899055 m,
      bearing: 272.122779 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022655 deg/s,
      cmd heading: 269.163904 deg,
      new cmd heading: 269.193130 deg.

2025-01-08T17:28:41.780Z,1736357321.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698307 target range: 171.399994 and range: 171.40 m.
2025-01-08T17:28:42.059Z,1736357322.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:42.068Z,1736357322.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.40 m.
2025-01-08T17:28:42.070Z,1736357322.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.399994 m,
      nav range: 124.674973 m,
      bearing: 272.127348 deg,
      approach rate: -0.708469 m/s,
      LOS rate: 0.014473 deg/s,
      cmd heading: 269.193137 deg,
      new cmd heading: 269.206870 deg.

2025-01-08T17:28:42.071Z,1736357322.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698546 target range: 171.399994 and range: 171.40 m.
2025-01-08T17:28:42.460Z,1736357322.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:42.473Z,1736357322.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:42.477Z,1736357322.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.40 m.
2025-01-08T17:28:42.497Z,1736357322.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.399994 m,
      nav range: 124.403336 m,
      bearing: 272.133140 deg,
      approach rate: -0.664586 m/s,
      LOS rate: 0.014202 deg/s,
      cmd heading: 269.206879 deg,
      new cmd heading: 269.224293 deg.

2025-01-08T17:28:42.498Z,1736357322.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698850 target range: 171.399994 and range: 171.40 m.
2025-01-08T17:28:42.625Z,1736357322.625 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:28:42.625Z,1736357322.625 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:28:42.625Z,1736357322.625 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:28:42.876Z,1736357322.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506509
2025-01-08T17:28:42.920Z,1736357322.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:42.929Z,1736357322.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.40 m.
2025-01-08T17:28:42.932Z,1736357322.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.399994 m,
      nav range: 124.090752 m,
      bearing: 272.137010 deg,
      approach rate: -0.690104 m/s,
      LOS rate: 0.008566 deg/s,
      cmd heading: 269.224282 deg,
      new cmd heading: 269.235922 deg.

2025-01-08T17:28:42.933Z,1736357322.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699053 target range: 171.399994 and range: 171.40 m.
2025-01-08T17:28:43.129Z,1736357323.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759264
2025-01-08T17:28:43.277Z,1736357323.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:43.285Z,1736357323.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.40 m.
2025-01-08T17:28:43.288Z,1736357323.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.399994 m,
      nav range: 123.848030 m,
      bearing: 272.140066 deg,
      approach rate: -0.681184 m/s,
      LOS rate: 0.008592 deg/s,
      cmd heading: 269.235921 deg,
      new cmd heading: 269.245106 deg.

2025-01-08T17:28:43.289Z,1736357323.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699214 target range: 171.399994 and range: 171.40 m.
2025-01-08T17:28:43.381Z,1736357323.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011077
2025-01-08T17:28:43.636Z,1736357323.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265731
2025-01-08T17:28:43.718Z,1736357323.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:43.727Z,1736357323.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.40 m.
2025-01-08T17:28:43.730Z,1736357323.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.399994 m,
      nav range: 123.538506 m,
      bearing: 272.141799 deg,
      approach rate: -0.700253 m/s,
      LOS rate: 0.003932 deg/s,
      cmd heading: 269.245101 deg,
      new cmd heading: 269.250315 deg.

2025-01-08T17:28:43.731Z,1736357323.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699305 target range: 171.399994 and range: 171.40 m.
2025-01-08T17:28:43.884Z,1736357323.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514547
2025-01-08T17:28:44.076Z,1736357324.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:44.085Z,1736357324.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.40 m.
2025-01-08T17:28:44.088Z,1736357324.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.399994 m,
      nav range: 123.287544 m,
      bearing: 272.143104 deg,
      approach rate: -0.701931 m/s,
      LOS rate: 0.003656 deg/s,
      cmd heading: 269.250319 deg,
      new cmd heading: 269.254240 deg.

2025-01-08T17:28:44.089Z,1736357324.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699373 target range: 171.399994 and range: 171.40 m.
2025-01-08T17:28:44.136Z,1736357324.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766723
2025-01-08T17:28:44.388Z,1736357324.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018626
2025-01-08T17:28:44.481Z,1736357324.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:44.513Z,1736357324.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:44.519Z,1736357324.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.40 m.
2025-01-08T17:28:44.522Z,1736357324.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.399994 m,
      nav range: 123.003036 m,
      bearing: 272.144455 deg,
      approach rate: -0.660896 m/s,
      LOS rate: 0.003146 deg/s,
      cmd heading: 269.254253 deg,
      new cmd heading: 269.258316 deg.

2025-01-08T17:28:44.527Z,1736357324.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699444 target range: 171.399994 and range: 171.40 m.
2025-01-08T17:28:44.644Z,1736357324.644 [DAT](INFO): DAT read: Rx Time:17:28:43.3157

2025-01-08T17:28:44.646Z,1736357324.646 [DAT](INFO): Rx dataTimestamp_ set to:1736357324.644872
2025-01-08T17:28:44.649Z,1736357324.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278284
2025-01-08T17:28:44.894Z,1736357324.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523795
2025-01-08T17:28:44.944Z,1736357324.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:44.953Z,1736357324.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.40 m.
2025-01-08T17:28:44.972Z,1736357324.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 171.399994 m,
      nav range: 122.674309 m,
      bearing: 272.144671 deg,
      approach rate: -0.750681 m/s,
      LOS rate: 0.000495 deg/s,
      cmd heading: 269.258324 deg,
      new cmd heading: 269.258975 deg.

2025-01-08T17:28:44.973Z,1736357324.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699456 target range: 171.399994 and range: 171.40 m.
2025-01-08T17:28:45.150Z,1736357325.150 [DAT](INFO): DAT read: 17:28:43.3157 LVL= 23712, 26305, 23778, 32755, AGC= 64, IDX=  59, 0.01, 2.553, 1.131, 2.461, 2.094, PHS= 0.546,-0.917, 0.363, RAW= 143.4,   0.1, CAL= 147.5,  -8.9, ROT=   2.5,   8.9

2025-01-08T17:28:45.152Z,1736357325.152 [DAT](INFO): got valid direction response:
 17:28:43.3157 LVL= 23712, 26305, 23778, 32755, AGC= 64, IDX=  59, 0.01, 2.553, 1.131, 2.461, 2.094, PHS= 0.546,-0.917, 0.363, RAW= 143.4,   0.1, CAL= 147.5,  -8.9, ROT=   2.5,   8.9

2025-01-08T17:28:45.153Z,1736357325.153 [DAT](INFO): DAT read: Bearing   2.5,   8.9 (Local)

2025-01-08T17:28:45.153Z,1736357325.153 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.5,   8.9 (Local)

2025-01-08T17:28:45.154Z,1736357325.154 [DAT](INFO): DAT read: Range 10 to 50 : 169.1 m  (Round-trip  225.5 ms) speed  0.7 m/s

2025-01-08T17:28:45.156Z,1736357325.156 [DAT](INFO): DAT read: user:181>

2025-01-08T17:28:45.156Z,1736357325.156 [DAT](INFO): DAT read: Tx time:17:28:44.4360

2025-01-08T17:28:45.157Z,1736357325.157 [DAT](INFO): Ping request sent.
2025-01-08T17:28:45.157Z,1736357325.157 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:28:45.157Z,1736357325.157 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:28:45.159Z,1736357325.159 [DAT](INFO): direction in FSK: [0.987020,0.043094,-0.154710]
2025-01-08T17:28:45.159Z,1736357325.159 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:45.159Z,1736357325.159 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:45.162Z,1736357325.162 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:45.162Z,1736357325.162 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:45.344Z,1736357325.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:45.370Z,1736357325.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 169.100006 m,
      deltaT: 3.788119 s,
      deltaX: -2.299988 m,
      approachRate: -0.607158 m/s,
      rangeRepo size: 4

2025-01-08T17:28:45.384Z,1736357325.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 169.100006 m,
      bearing: 273.095961 deg,
      lat: 36.904181 deg,
      lon: -122.118928 deg,
      deltaT: 3.788119 s,
      deltaX: -2.299988 m,
      approachRate: -0.607158 m/s,
      posRepo size: 4

2025-01-08T17:28:45.384Z,1736357325.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-01-08T17:28:45.387Z,1736357325.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 124.694954 m,
      bearing: 274.153398 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000495 deg/s,
      cmd heading: 269.258980 deg,
      new cmd heading: 269.259598 deg.

2025-01-08T17:28:45.393Z,1736357325.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699467 target range: 169.100006 and range: 169.10 m.
2025-01-08T17:28:45.397Z,1736357325.397 [DAT](INFO): DAT read: TxSync time:17:28:44.4352

2025-01-08T17:28:45.728Z,1736357325.728 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  86.01,  72.75,  79.25
2025-01-08T17:28:45.735Z,1736357325.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:28:45.735Z,1736357325.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:45.745Z,1736357325.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-01-08T17:28:45.747Z,1736357325.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 124.417892 m,
      bearing: 274.158054 deg,
      approach rate: -0.737884 m/s,
      LOS rate: 0.012426 deg/s,
      cmd heading: 269.259608 deg,
      new cmd heading: 269.273606 deg.

2025-01-08T17:28:45.749Z,1736357325.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699711 target range: 169.100006 and range: 169.10 m.
2025-01-08T17:28:46.104Z,1736357326.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:28:46.104Z,1736357326.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:46.152Z,1736357326.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-01-08T17:28:46.155Z,1736357326.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 124.156685 m,
      bearing: 274.162823 deg,
      approach rate: -0.648918 m/s,
      LOS rate: 0.011874 deg/s,
      cmd heading: 269.273596 deg,
      new cmd heading: 269.287935 deg.

2025-01-08T17:28:46.167Z,1736357326.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699961 target range: 169.100006 and range: 169.10 m.
2025-01-08T17:28:46.513Z,1736357326.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-08T17:28:46.513Z,1736357326.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:46.520Z,1736357326.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:46.522Z,1736357326.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-01-08T17:28:46.526Z,1736357326.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 123.866058 m,
      bearing: 274.168223 deg,
      approach rate: -0.774934 m/s,
      LOS rate: 0.014431 deg/s,
      cmd heading: 269.287940 deg,
      new cmd heading: 269.304176 deg.

2025-01-08T17:28:46.530Z,1736357326.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700244 target range: 169.100006 and range: 169.10 m.
2025-01-08T17:28:46.659Z,1736357326.659 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:28:46.659Z,1736357326.659 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:28:46.660Z,1736357326.660 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:28:46.909Z,1736357326.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752163
2025-01-08T17:28:46.939Z,1736357326.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:46.949Z,1736357326.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-01-08T17:28:46.972Z,1736357326.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 123.567665 m,
      bearing: 274.168808 deg,
      approach rate: -0.699503 m/s,
      LOS rate: 0.001374 deg/s,
      cmd heading: 269.304168 deg,
      new cmd heading: 269.305927 deg.

2025-01-08T17:28:46.973Z,1736357326.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700275 target range: 169.100006 and range: 169.10 m.
2025-01-08T17:28:47.161Z,1736357327.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003994
2025-01-08T17:28:47.320Z,1736357327.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:47.345Z,1736357327.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-01-08T17:28:47.350Z,1736357327.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 123.301315 m,
      bearing: 274.169069 deg,
      approach rate: -0.672371 m/s,
      LOS rate: 0.000662 deg/s,
      cmd heading: 269.305917 deg,
      new cmd heading: 269.306704 deg.

2025-01-08T17:28:47.356Z,1736357327.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700289 target range: 169.100006 and range: 169.10 m.
2025-01-08T17:28:47.413Z,1736357327.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256519
2025-01-08T17:28:47.667Z,1736357327.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509871
2025-01-08T17:28:47.765Z,1736357327.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:47.774Z,1736357327.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-01-08T17:28:47.794Z,1736357327.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 122.987633 m,
      bearing: 274.167900 deg,
      approach rate: -0.731239 m/s,
      LOS rate: -0.002732 deg/s,
      cmd heading: 269.306709 deg,
      new cmd heading: 269.303193 deg.

2025-01-08T17:28:47.797Z,1736357327.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700227 target range: 169.100006 and range: 169.10 m.
2025-01-08T17:28:47.916Z,1736357327.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759536
2025-01-08T17:28:48.151Z,1736357328.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:48.160Z,1736357328.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-01-08T17:28:48.166Z,1736357328.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 122.716858 m,
      bearing: 274.166886 deg,
      approach rate: -0.700238 m/s,
      LOS rate: -0.002628 deg/s,
      cmd heading: 269.303185 deg,
      new cmd heading: 269.300136 deg.

2025-01-08T17:28:48.169Z,1736357328.169 [DAT](INFO): DAT read: Rx Time:17:28:47.0270

2025-01-08T17:28:48.169Z,1736357328.169 [DAT](INFO): Rx dataTimestamp_ set to:1736357328.168958
2025-01-08T17:28:48.170Z,1736357328.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013089
2025-01-08T17:28:48.172Z,1736357328.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700174 target range: 169.100006 and range: 169.10 m.
2025-01-08T17:28:48.420Z,1736357328.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263581
2025-01-08T17:28:48.560Z,1736357328.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:48.567Z,1736357328.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:48.569Z,1736357328.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-01-08T17:28:48.572Z,1736357328.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 122.435234 m,
      bearing: 274.165827 deg,
      approach rate: -0.689529 m/s,
      LOS rate: -0.002600 deg/s,
      cmd heading: 269.300125 deg,
      new cmd heading: 269.296939 deg.

2025-01-08T17:28:48.573Z,1736357328.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700118 target range: 169.100006 and range: 169.10 m.
2025-01-08T17:28:48.678Z,1736357328.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521068
2025-01-08T17:28:48.943Z,1736357328.943 [DAT](INFO): DAT read: 17:28:47.0270 LVL= 24224, 32753, 23138, 32755, AGC= 64, IDX=  38,-0.17,-3.126, 1.731, 3.059, 2.712, PHS= 0.533,-0.934, 0.344, RAW= 143.2,   0.8, CAL= 147.1,  -8.0, ROT=   2.9,   8.0

2025-01-08T17:28:48.945Z,1736357328.945 [DAT](INFO): got valid direction response:
 17:28:47.0270 LVL= 24224, 32753, 23138, 32755, AGC= 64, IDX=  38,-0.17,-3.126, 1.731, 3.059, 2.712, PHS= 0.533,-0.934, 0.344, RAW= 143.2,   0.8, CAL= 147.1,  -8.0, ROT=   2.9,   8.0

2025-01-08T17:28:48.946Z,1736357328.946 [DAT](INFO): DAT read: Bearing   2.9,   8.0 (Local)

2025-01-08T17:28:48.946Z,1736357328.946 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.9,   8.0 (Local)

2025-01-08T17:28:48.948Z,1736357328.948 [DAT](INFO): DAT read: Range 10 to 50 : 140.1 m  (Round-trip  186.9 ms) speed  0.4 m/s

2025-01-08T17:28:48.949Z,1736357328.949 [DAT](INFO): DAT read: user:182>

2025-01-08T17:28:48.949Z,1736357328.949 [DAT](INFO): DAT read: Tx time:17:28:48.1360

2025-01-08T17:28:48.950Z,1736357328.950 [DAT](INFO): Ping request sent.
2025-01-08T17:28:48.950Z,1736357328.950 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:28:48.950Z,1736357328.950 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:28:48.951Z,1736357328.951 [DAT](INFO): direction in FSK: [0.989000,0.050101,-0.139173]
2025-01-08T17:28:48.951Z,1736357328.951 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:48.952Z,1736357328.952 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:48.954Z,1736357328.954 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:48.955Z,1736357328.955 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:49.052Z,1736357329.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:49.078Z,1736357329.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 140.100006 m,
 deltaT: 3.786512 s,
 deltaX: -29.000000 m,
 approachRate: -7.658763 m/s,
 rangeRepo size: 4
2025-01-08T17:28:49.083Z,1736357329.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-01-08T17:28:49.086Z,1736357329.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 122.093224 m,
      bearing: 274.165157 deg,
      approach rate: -0.672126 m/s,
      LOS rate: -0.001321 deg/s,
      cmd heading: 269.296928 deg,
      new cmd heading: 269.294911 deg.

2025-01-08T17:28:49.087Z,1736357329.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700083 target range: 169.100006 and range: 169.10 m.
2025-01-08T17:28:49.180Z,1736357329.180 [DAT](INFO): DAT read: TxSync time:17:28:48.1352

2025-01-08T17:28:49.399Z,1736357329.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:49.437Z,1736357329.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-01-08T17:28:49.456Z,1736357329.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 121.855789 m,
      bearing: 274.164966 deg,
      approach rate: -0.661005 m/s,
      LOS rate: -0.000532 deg/s,
      cmd heading: 269.294907 deg,
      new cmd heading: 269.294334 deg.

2025-01-08T17:28:49.457Z,1736357329.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700073 target range: 169.100006 and range: 169.10 m.
2025-01-08T17:28:49.802Z,1736357329.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:49.811Z,1736357329.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-01-08T17:28:49.814Z,1736357329.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 121.586037 m,
      bearing: 274.163656 deg,
      approach rate: -0.721707 m/s,
      LOS rate: -0.003513 deg/s,
      cmd heading: 269.294333 deg,
      new cmd heading: 269.290394 deg.

2025-01-08T17:28:49.815Z,1736357329.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700004 target range: 169.100006 and range: 169.10 m.
2025-01-08T17:28:50.173Z,1736357330.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:50.184Z,1736357330.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-01-08T17:28:50.186Z,1736357330.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 121.336998 m,
      bearing: 274.162701 deg,
      approach rate: -0.668340 m/s,
      LOS rate: -0.002567 deg/s,
      cmd heading: 269.290399 deg,
      new cmd heading: 269.287529 deg.

2025-01-08T17:28:50.189Z,1736357330.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699954 target range: 169.100006 and range: 169.10 m.
2025-01-08T17:28:50.582Z,1736357330.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:50.589Z,1736357330.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:50.591Z,1736357330.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-01-08T17:28:50.594Z,1736357330.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 121.062912 m,
      bearing: 274.161505 deg,
      approach rate: -0.671929 m/s,
      LOS rate: -0.002939 deg/s,
      cmd heading: 269.287530 deg,
      new cmd heading: 269.283933 deg.

2025-01-08T17:28:50.595Z,1736357330.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699891 target range: 169.100006 and range: 169.10 m.
2025-01-08T17:28:50.699Z,1736357330.699 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:28:50.700Z,1736357330.700 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:28:50.701Z,1736357330.701 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:28:50.948Z,1736357330.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998536
2025-01-08T17:28:51.033Z,1736357331.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:51.043Z,1736357331.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-01-08T17:28:51.046Z,1736357331.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 120.767525 m,
      bearing: 274.161348 deg,
      approach rate: -0.653969 m/s,
      LOS rate: -0.000349 deg/s,
      cmd heading: 269.283924 deg,
      new cmd heading: 269.283451 deg.

2025-01-08T17:28:51.047Z,1736357331.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699883 target range: 169.100006 and range: 169.10 m.
2025-01-08T17:28:51.200Z,1736357331.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250691
2025-01-08T17:28:51.385Z,1736357331.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:51.395Z,1736357331.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-01-08T17:28:51.398Z,1736357331.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 120.536934 m,
      bearing: 274.161117 deg,
      approach rate: -0.654530 m/s,
      LOS rate: -0.000657 deg/s,
      cmd heading: 269.283459 deg,
      new cmd heading: 269.282765 deg.

2025-01-08T17:28:51.400Z,1736357331.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699871 target range: 169.100006 and range: 169.10 m.
2025-01-08T17:28:51.453Z,1736357331.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503280
2025-01-08T17:28:51.706Z,1736357331.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756016
2025-01-08T17:28:51.831Z,1736357331.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:51.839Z,1736357331.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-01-08T17:28:51.843Z,1736357331.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 120.246750 m,
      bearing: 274.164171 deg,
      approach rate: -0.653931 m/s,
      LOS rate: 0.006900 deg/s,
      cmd heading: 269.282776 deg,
      new cmd heading: 269.291962 deg.

2025-01-08T17:28:51.844Z,1736357331.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700031 target range: 169.100006 and range: 169.10 m.
2025-01-08T17:28:51.956Z,1736357331.956 [DAT](INFO): DAT read: Rx Time:17:28:50.7240

2025-01-08T17:28:51.957Z,1736357331.957 [DAT](INFO): Rx dataTimestamp_ set to:1736357331.956638
2025-01-08T17:28:51.958Z,1736357331.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008391
2025-01-08T17:28:52.198Z,1736357332.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:52.207Z,1736357332.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.10 m.
2025-01-08T17:28:52.209Z,1736357332.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259352
2025-01-08T17:28:52.213Z,1736357332.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.100006 m,
      nav range: 120.007362 m,
      bearing: 274.166562 deg,
      approach rate: -0.651221 m/s,
      LOS rate: 0.006516 deg/s,
      cmd heading: 269.291956 deg,
      new cmd heading: 269.299142 deg.

2025-01-08T17:28:52.214Z,1736357332.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700157 target range: 169.100006 and range: 169.10 m.
2025-01-08T17:28:52.477Z,1736357332.477 [DAT](INFO): DAT read: 17:28:50.7240 LVL= 23984, 32545, 20866, 31075, AGC= 64, IDX= 406, 0.11, 3.040, 1.704, 2.956, 2.576, PHS= 0.553,-0.825, 0.377, RAW= 143.3,  -1.6, CAL= 147.8, -10.7, ROT=   2.2,  10.7

2025-01-08T17:28:52.478Z,1736357332.478 [DAT](INFO): got valid direction response:
 17:28:50.7240 LVL= 23984, 32545, 20866, 31075, AGC= 64, IDX= 406, 0.11, 3.040, 1.704, 2.956, 2.576, PHS= 0.553,-0.825, 0.377, RAW= 143.3,  -1.6, CAL= 147.8, -10.7, ROT=   2.2,  10.7

2025-01-08T17:28:52.479Z,1736357332.479 [DAT](INFO): DAT read: Bearing   2.2,  10.7 (Local)

2025-01-08T17:28:52.481Z,1736357332.481 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2,  10.7 (Local)

2025-01-08T17:28:52.486Z,1736357332.486 [DAT](INFO): DAT read: Range 10 to 50 : 137.7 m  (Round-trip  183.7 ms) speed  0.6 m/s

2025-01-08T17:28:52.486Z,1736357332.486 [DAT](INFO): DAT read: user:183>

2025-01-08T17:28:52.487Z,1736357332.487 [DAT](INFO): DAT read: Tx time:17:28:51.8376

2025-01-08T17:28:52.488Z,1736357332.488 [DAT](INFO): Ping request sent.
2025-01-08T17:28:52.488Z,1736357332.488 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:28:52.488Z,1736357332.488 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:28:52.489Z,1736357332.489 [DAT](INFO): direction in FSK: [0.981889,0.037720,-0.185667]
2025-01-08T17:28:52.489Z,1736357332.489 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:52.490Z,1736357332.490 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:52.496Z,1736357332.496 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:52.496Z,1736357332.496 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:52.617Z,1736357332.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:52.657Z,1736357332.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 137.699997 m,
      deltaT: 7.317060 s,
      deltaX: -31.400009 m,
      approachRate: -4.291342 m/s,
      rangeRepo size: 4

2025-01-08T17:28:52.659Z,1736357332.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 137.699997 m,
      bearing: 273.128885 deg,
      lat: 36.904175 deg,
      lon: -122.119106 deg,
      deltaT: 7.317060 s,
      deltaX: -31.400009 m,
      approachRate: -4.291342 m/s,
      posRepo size: 4

2025-01-08T17:28:52.671Z,1736357332.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-08T17:28:52.674Z,1736357332.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 135.442902 m,
      bearing: 273.404326 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006516 deg/s,
      cmd heading: 269.299141 deg,
      new cmd heading: 269.307925 deg.

2025-01-08T17:28:52.675Z,1736357332.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700310 target range: 137.699997 and range: 137.70 m.
2025-01-08T17:28:52.717Z,1736357332.717 [DAT](INFO): DAT read: TxSync time:17:28:51.8369

2025-01-08T17:28:53.022Z,1736357333.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:53.049Z,1736357333.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:53.051Z,1736357333.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-08T17:28:53.058Z,1736357333.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 135.187653 m,
      bearing: 273.407090 deg,
      approach rate: -0.646550 m/s,
      LOS rate: 0.007015 deg/s,
      cmd heading: 269.307911 deg,
      new cmd heading: 269.316219 deg.

2025-01-08T17:28:53.064Z,1736357333.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700455 target range: 137.699997 and range: 137.70 m.
2025-01-08T17:28:53.216Z,1736357333.216 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:28:53.216Z,1736357333.216 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:28:53.216Z,1736357333.216 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:28:53.414Z,1736357333.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:53.422Z,1736357333.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-08T17:28:53.427Z,1736357333.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 134.940445 m,
      bearing: 273.410052 deg,
      approach rate: -0.665277 m/s,
      LOS rate: 0.007984 deg/s,
      cmd heading: 269.316217 deg,
      new cmd heading: 269.325117 deg.

2025-01-08T17:28:53.428Z,1736357333.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700610 target range: 137.699997 and range: 137.70 m.
2025-01-08T17:28:53.469Z,1736357333.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.981130
2025-01-08T17:28:53.722Z,1736357333.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234254
2025-01-08T17:28:53.861Z,1736357333.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:53.869Z,1736357333.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-08T17:28:53.872Z,1736357333.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 134.656174 m,
      bearing: 273.409246 deg,
      approach rate: -0.636151 m/s,
      LOS rate: -0.001807 deg/s,
      cmd heading: 269.325123 deg,
      new cmd heading: 269.322700 deg.

2025-01-08T17:28:53.873Z,1736357333.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700568 target range: 137.699997 and range: 137.70 m.
2025-01-08T17:28:53.974Z,1736357333.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485775
2025-01-08T17:28:54.217Z,1736357334.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:54.225Z,1736357334.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737242
2025-01-08T17:28:54.243Z,1736357334.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-08T17:28:54.249Z,1736357334.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 134.429703 m,
      bearing: 273.408319 deg,
      approach rate: -0.606458 m/s,
      LOS rate: -0.002486 deg/s,
      cmd heading: 269.322692 deg,
      new cmd heading: 269.319907 deg.

2025-01-08T17:28:54.250Z,1736357334.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700519 target range: 137.699997 and range: 137.70 m.
2025-01-08T17:28:54.476Z,1736357334.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988472
2025-01-08T17:28:54.620Z,1736357334.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:54.630Z,1736357334.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-08T17:28:54.633Z,1736357334.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 134.173279 m,
      bearing: 273.406986 deg,
      approach rate: -0.661977 m/s,
      LOS rate: -0.003448 deg/s,
      cmd heading: 269.319905 deg,
      new cmd heading: 269.315898 deg.

2025-01-08T17:28:54.634Z,1736357334.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700449 target range: 137.699997 and range: 137.70 m.
2025-01-08T17:28:54.731Z,1736357334.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242313
2025-01-08T17:28:54.980Z,1736357334.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492458
2025-01-08T17:28:55.056Z,1736357335.056 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:55.078Z,1736357335.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:55.085Z,1736357335.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-08T17:28:55.092Z,1736357335.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 133.891861 m,
      bearing: 273.413590 deg,
      approach rate: -0.619038 m/s,
      LOS rate: 0.014557 deg/s,
      cmd heading: 269.315889 deg,
      new cmd heading: 269.335742 deg.

2025-01-08T17:28:55.093Z,1736357335.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700796 target range: 137.699997 and range: 137.70 m.
2025-01-08T17:28:55.232Z,1736357335.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744398
2025-01-08T17:28:55.423Z,1736357335.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:55.448Z,1736357335.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-08T17:28:55.452Z,1736357335.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 133.649033 m,
      bearing: 273.419190 deg,
      approach rate: -0.667247 m/s,
      LOS rate: 0.015418 deg/s,
      cmd heading: 269.335751 deg,
      new cmd heading: 269.352584 deg.

2025-01-08T17:28:55.453Z,1736357335.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701089 target range: 137.699997 and range: 137.70 m.
2025-01-08T17:28:55.485Z,1736357335.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996672
2025-01-08T17:28:55.736Z,1736357335.736 [DAT](INFO): DAT read: Rx Time:17:28:54.4581

2025-01-08T17:28:55.737Z,1736357335.737 [DAT](INFO): Rx dataTimestamp_ set to:1736357335.736577
2025-01-08T17:28:55.737Z,1736357335.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249582
2025-01-08T17:28:55.887Z,1736357335.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:55.917Z,1736357335.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-08T17:28:55.924Z,1736357335.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 133.340149 m,
      bearing: 273.425271 deg,
      approach rate: -0.659408 m/s,
      LOS rate: 0.013011 deg/s,
      cmd heading: 269.352581 deg,
      new cmd heading: 269.370864 deg.

2025-01-08T17:28:55.926Z,1736357335.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701408 target range: 137.699997 and range: 137.70 m.
2025-01-08T17:28:55.989Z,1736357335.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501184
2025-01-08T17:28:56.247Z,1736357336.247 [DAT](INFO): DAT read: 17:28:54.4581 LVL= 26736, 31521, 24114, 32755, AGC= 61, IDX= 259, 0.02,-0.518,-2.082,-0.639,-0.985, PHS= 0.556,-1.049, 0.343, RAW= 143.0,   2.0, CAL= 146.7,  -6.7, ROT=   3.3,   6.7

2025-01-08T17:28:56.248Z,1736357336.248 [DAT](INFO): got valid direction response:
 17:28:54.4581 LVL= 26736, 31521, 24114, 32755, AGC= 61, IDX= 259, 0.02,-0.518,-2.082,-0.639,-0.985, PHS= 0.556,-1.049, 0.343, RAW= 143.0,   2.0, CAL= 146.7,  -6.7, ROT=   3.3,   6.7

2025-01-08T17:28:56.249Z,1736357336.249 [DAT](INFO): DAT read: Bearing   3.3,   6.7 (Local)

2025-01-08T17:28:56.249Z,1736357336.249 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.3,   6.7 (Local)

2025-01-08T17:28:56.251Z,1736357336.251 [DAT](INFO): DAT read: Range 10 to 50 : 162.2 m  (Round-trip  216.3 ms) speed  0.4 m/s

2025-01-08T17:28:56.252Z,1736357336.252 [DAT](INFO): DAT read: user:184>

2025-01-08T17:28:56.252Z,1736357336.252 [DAT](INFO): DAT read: Tx time:17:28:55.5861

2025-01-08T17:28:56.253Z,1736357336.253 [DAT](INFO): Ping request sent.
2025-01-08T17:28:56.253Z,1736357336.253 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:28:56.253Z,1736357336.253 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:28:56.254Z,1736357336.254 [DAT](INFO): direction in FSK: [0.991524,0.057171,-0.116671]
2025-01-08T17:28:56.254Z,1736357336.254 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:56.255Z,1736357336.255 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:56.259Z,1736357336.259 [DAT](INFO): publishing transmit ping time
2025-01-08T17:28:56.259Z,1736357336.259 [DAT](INFO): publishing direction and range info
2025-01-08T17:28:56.266Z,1736357336.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:56.319Z,1736357336.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 162.199997 m,
 deltaT: 3.778601 s,
 deltaX: 24.500000 m,
 approachRate: 6.483881 m/s,
 rangeRepo size: 4
2025-01-08T17:28:56.320Z,1736357336.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-08T17:28:56.323Z,1736357336.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 133.087875 m,
      bearing: 273.430223 deg,
      approach rate: -0.631310 m/s,
      LOS rate: 0.012417 deg/s,
      cmd heading: 269.370858 deg,
      new cmd heading: 269.385743 deg.

2025-01-08T17:28:56.325Z,1736357336.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701668 target range: 137.699997 and range: 137.70 m.
2025-01-08T17:28:56.495Z,1736357336.495 [DAT](INFO): DAT read: TxSync time:17:28:55.5853

2025-01-08T17:28:56.636Z,1736357336.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:56.645Z,1736357336.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-08T17:28:56.648Z,1736357336.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 132.842361 m,
      bearing: 273.435052 deg,
      approach rate: -0.747392 m/s,
      LOS rate: 0.014727 deg/s,
      cmd heading: 269.385748 deg,
      new cmd heading: 269.400261 deg.

2025-01-08T17:28:56.649Z,1736357336.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701921 target range: 137.699997 and range: 137.70 m.
2025-01-08T17:28:57.077Z,1736357337.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:57.084Z,1736357337.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:57.086Z,1736357337.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-08T17:28:57.089Z,1736357337.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 132.540588 m,
      bearing: 273.441448 deg,
      approach rate: -0.684648 m/s,
      LOS rate: 0.014544 deg/s,
      cmd heading: 269.400255 deg,
      new cmd heading: 269.419488 deg.

2025-01-08T17:28:57.090Z,1736357337.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702257 target range: 137.699997 and range: 137.70 m.
2025-01-08T17:28:57.252Z,1736357337.252 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:28:57.252Z,1736357337.252 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:28:57.252Z,1736357337.252 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:28:57.445Z,1736357337.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:57.469Z,1736357337.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-08T17:28:57.476Z,1736357337.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 132.289352 m,
      bearing: 273.447305 deg,
      approach rate: -0.654700 m/s,
      LOS rate: 0.015291 deg/s,
      cmd heading: 269.419489 deg,
      new cmd heading: 269.437093 deg.

2025-01-08T17:28:57.477Z,1736357337.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702564 target range: 137.699997 and range: 137.70 m.
2025-01-08T17:28:57.504Z,1736357337.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251600
2025-01-08T17:28:57.756Z,1736357337.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503418
2025-01-08T17:28:57.911Z,1736357337.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:57.920Z,1736357337.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-08T17:28:57.922Z,1736357337.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 131.958664 m,
      bearing: 273.454896 deg,
      approach rate: -0.734462 m/s,
      LOS rate: 0.016902 deg/s,
      cmd heading: 269.437084 deg,
      new cmd heading: 269.459914 deg.

2025-01-08T17:28:57.924Z,1736357337.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702963 target range: 137.699997 and range: 137.70 m.
2025-01-08T17:28:58.015Z,1736357338.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762536
2025-01-08T17:28:58.253Z,1736357338.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:58.262Z,1736357338.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-08T17:28:58.264Z,1736357338.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011507
2025-01-08T17:28:58.266Z,1736357338.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 131.716476 m,
      bearing: 273.460310 deg,
      approach rate: -0.707677 m/s,
      LOS rate: 0.015849 deg/s,
      cmd heading: 269.459924 deg,
      new cmd heading: 269.476196 deg.

2025-01-08T17:28:58.268Z,1736357338.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703247 target range: 137.699997 and range: 137.70 m.
2025-01-08T17:28:58.516Z,1736357338.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263394
2025-01-08T17:28:58.660Z,1736357338.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:58.669Z,1736357338.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-08T17:28:58.672Z,1736357338.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 131.427429 m,
      bearing: 273.466607 deg,
      approach rate: -0.710349 m/s,
      LOS rate: 0.015510 deg/s,
      cmd heading: 269.476207 deg,
      new cmd heading: 269.495140 deg.

2025-01-08T17:28:58.673Z,1736357338.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703578 target range: 137.699997 and range: 137.70 m.
2025-01-08T17:28:58.769Z,1736357338.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515719
2025-01-08T17:28:59.020Z,1736357339.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767352
2025-01-08T17:28:59.118Z,1736357339.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:59.126Z,1736357339.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:28:59.128Z,1736357339.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-08T17:28:59.131Z,1736357339.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 131.091904 m,
      bearing: 273.472706 deg,
      approach rate: -0.730464 m/s,
      LOS rate: 0.013312 deg/s,
      cmd heading: 269.495140 deg,
      new cmd heading: 269.513484 deg.

2025-01-08T17:28:59.135Z,1736357339.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703897 target range: 137.699997 and range: 137.70 m.
2025-01-08T17:28:59.273Z,1736357339.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019871
2025-01-08T17:28:59.464Z,1736357339.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:59.473Z,1736357339.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-08T17:28:59.477Z,1736357339.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 130.838547 m,
      bearing: 273.477420 deg,
      approach rate: -0.735814 m/s,
      LOS rate: 0.013717 deg/s,
      cmd heading: 269.513473 deg,
      new cmd heading: 269.527642 deg.

2025-01-08T17:28:59.478Z,1736357339.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704145 target range: 137.699997 and range: 137.70 m.
2025-01-08T17:28:59.525Z,1736357339.525 [DAT](INFO): DAT read: Rx Time:17:28:58.1672

2025-01-08T17:28:59.526Z,1736357339.526 [DAT](INFO): Rx dataTimestamp_ set to:1736357339.525417
2025-01-08T17:28:59.526Z,1736357339.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273378
2025-01-08T17:28:59.776Z,1736357339.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523312
2025-01-08T17:28:59.951Z,1736357339.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:28:59.960Z,1736357339.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.70 m.
2025-01-08T17:28:59.963Z,1736357339.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.699997 m,
      nav range: 130.483383 m,
      bearing: 273.482471 deg,
      approach rate: -0.728385 m/s,
      LOS rate: 0.010385 deg/s,
      cmd heading: 269.527652 deg,
      new cmd heading: 269.542844 deg.

2025-01-08T17:28:59.964Z,1736357339.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704410 target range: 137.699997 and range: 137.70 m.
2025-01-08T17:29:00.044Z,1736357340.044 [DAT](INFO): DAT read: 17:28:58.1672 LVL= 28448, 28849, 24546, 23395, AGC= 65, IDX=  32, 0.36, 1.741, 0.297, 1.652, 1.311, PHS= 0.518,-0.966, 0.338, RAW= 143.6,   1.6, CAL= 147.3,  -7.2, ROT=   2.7,   7.2

2025-01-08T17:29:00.045Z,1736357340.045 [DAT](INFO): got valid direction response:
 17:28:58.1672 LVL= 28448, 28849, 24546, 23395, AGC= 65, IDX=  32, 0.36, 1.741, 0.297, 1.652, 1.311, PHS= 0.518,-0.966, 0.338, RAW= 143.6,   1.6, CAL= 147.3,  -7.2, ROT=   2.7,   7.2

2025-01-08T17:29:00.046Z,1736357340.046 [DAT](INFO): DAT read: Bearing   2.7,   7.2 (Local)

2025-01-08T17:29:00.047Z,1736357340.047 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.7,   7.2 (Local)

2025-01-08T17:29:00.065Z,1736357340.065 [DAT](INFO): DAT read: Range 10 to 50 : 132.7 m  (Round-trip  177.0 ms) speed  0.5 m/s

2025-01-08T17:29:00.066Z,1736357340.066 [DAT](INFO): DAT read: user:185>

2025-01-08T17:29:00.072Z,1736357340.072 [DAT](INFO): DAT read: Tx time:17:28:59.2861

2025-01-08T17:29:00.072Z,1736357340.072 [DAT](INFO): Ping request sent.
2025-01-08T17:29:00.072Z,1736357340.072 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:29:00.073Z,1736357340.073 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:29:00.074Z,1736357340.074 [DAT](INFO): direction in FSK: [0.991013,0.046735,-0.125333]
2025-01-08T17:29:00.075Z,1736357340.075 [DAT](INFO): publishing transmit ping time
2025-01-08T17:29:00.075Z,1736357340.075 [DAT](INFO): publishing direction and range info
2025-01-08T17:29:00.094Z,1736357340.094 [DAT](INFO): publishing transmit ping time
2025-01-08T17:29:00.095Z,1736357340.095 [DAT](INFO): publishing direction and range info
2025-01-08T17:29:00.281Z,1736357340.281 [DAT](INFO): DAT read: TxSync time:17:28:59.2853

2025-01-08T17:29:00.292Z,1736357340.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:00.313Z,1736357340.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 132.699997 m,
      deltaT: 7.566829 s,
      deltaX: -5.000000 m,
      approachRate: -0.660779 m/s,
      rangeRepo size: 4

2025-01-08T17:29:00.315Z,1736357340.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 132.699997 m,
      bearing: 273.158501 deg,
      lat: 36.904175 deg,
      lon: -122.119123 deg,
      deltaT: 7.566829 s,
      deltaX: -5.000000 m,
      approachRate: -0.660779 m/s,
      posRepo size: 4

2025-01-08T17:29:00.320Z,1736357340.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.70 m.
2025-01-08T17:29:00.323Z,1736357340.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.699997 m,
      nav range: 131.747772 m,
      bearing: 273.446175 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010385 deg/s,
      cmd heading: 269.542842 deg,
      new cmd heading: 269.553810 deg.

2025-01-08T17:29:00.328Z,1736357340.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704601 target range: 132.699997 and range: 132.70 m.
2025-01-08T17:29:00.677Z,1736357340.677 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:00.714Z,1736357340.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.70 m.
2025-01-08T17:29:00.721Z,1736357340.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.699997 m,
      nav range: 131.460556 m,
      bearing: 273.450664 deg,
      approach rate: -0.716486 m/s,
      LOS rate: 0.011222 deg/s,
      cmd heading: 269.553798 deg,
      new cmd heading: 269.567294 deg.

2025-01-08T17:29:00.722Z,1736357340.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704837 target range: 132.699997 and range: 132.70 m.
2025-01-08T17:29:01.107Z,1736357341.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:01.116Z,1736357341.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.70 m.
2025-01-08T17:29:01.119Z,1736357341.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.699997 m,
      nav range: 131.144913 m,
      bearing: 273.451863 deg,
      approach rate: -0.783257 m/s,
      LOS rate: 0.002982 deg/s,
      cmd heading: 269.567295 deg,
      new cmd heading: 269.570899 deg.

2025-01-08T17:29:01.120Z,1736357341.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704900 target range: 132.699997 and range: 132.70 m.
2025-01-08T17:29:01.483Z,1736357341.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:01.490Z,1736357341.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:01.494Z,1736357341.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.70 m.
2025-01-08T17:29:01.497Z,1736357341.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.699997 m,
      nav range: 130.869064 m,
      bearing: 273.453265 deg,
      approach rate: -0.728803 m/s,
      LOS rate: 0.003713 deg/s,
      cmd heading: 269.570901 deg,
      new cmd heading: 269.575116 deg.

2025-01-08T17:29:01.498Z,1736357341.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704973 target range: 132.699997 and range: 132.70 m.
2025-01-08T17:29:01.540Z,1736357341.540 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:01.541Z,1736357341.541 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:01.541Z,1736357341.541 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:29:01.793Z,1736357341.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720495
2025-01-08T17:29:01.966Z,1736357341.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:01.976Z,1736357341.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.70 m.
2025-01-08T17:29:01.978Z,1736357341.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.699997 m,
      nav range: 130.522552 m,
      bearing: 273.453527 deg,
      approach rate: -0.720004 m/s,
      LOS rate: 0.000546 deg/s,
      cmd heading: 269.575108 deg,
      new cmd heading: 269.575896 deg.

2025-01-08T17:29:01.980Z,1736357341.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704987 target range: 132.699997 and range: 132.70 m.
2025-01-08T17:29:02.044Z,1736357342.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971817
2025-01-08T17:29:02.296Z,1736357342.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223811
2025-01-08T17:29:02.302Z,1736357342.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:02.312Z,1736357342.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.70 m.
2025-01-08T17:29:02.314Z,1736357342.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.699997 m,
      nav range: 130.282135 m,
      bearing: 273.453557 deg,
      approach rate: -0.716825 m/s,
      LOS rate: 0.000090 deg/s,
      cmd heading: 269.575901 deg,
      new cmd heading: 269.575991 deg.

2025-01-08T17:29:02.316Z,1736357342.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704988 target range: 132.699997 and range: 132.70 m.
2025-01-08T17:29:02.548Z,1736357342.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475970
2025-01-08T17:29:02.710Z,1736357342.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:02.721Z,1736357342.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.70 m.
2025-01-08T17:29:02.726Z,1736357342.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.699997 m,
      nav range: 129.989227 m,
      bearing: 273.453561 deg,
      approach rate: -0.714007 m/s,
      LOS rate: 0.000010 deg/s,
      cmd heading: 269.575983 deg,
      new cmd heading: 269.575995 deg.

2025-01-08T17:29:02.727Z,1736357342.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704988 target range: 132.699997 and range: 132.70 m.
2025-01-08T17:29:02.801Z,1736357342.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728635
2025-01-08T17:29:03.053Z,1736357343.053 [DAT](INFO): DAT read: Rx Time:17:29:01.8635

2025-01-08T17:29:03.053Z,1736357343.053 [DAT](INFO): Rx dataTimestamp_ set to:1736357343.052755
2025-01-08T17:29:03.054Z,1736357343.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981079
2025-01-08T17:29:03.165Z,1736357343.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:03.174Z,1736357343.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.70 m.
2025-01-08T17:29:03.178Z,1736357343.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.699997 m,
      nav range: 129.671249 m,
      bearing: 273.449961 deg,
      approach rate: -0.703015 m/s,
      LOS rate: -0.007980 deg/s,
      cmd heading: 269.575983 deg,
      new cmd heading: 269.565155 deg.

2025-01-08T17:29:03.179Z,1736357343.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704800 target range: 132.699997 and range: 132.70 m.
2025-01-08T17:29:03.304Z,1736357343.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231874
2025-01-08T17:29:03.509Z,1736357343.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:03.516Z,1736357343.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:03.518Z,1736357343.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.70 m.
2025-01-08T17:29:03.521Z,1736357343.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 132.699997 m,
      nav range: 129.430908 m,
      bearing: 273.447157 deg,
      approach rate: -0.697675 m/s,
      LOS rate: -0.008154 deg/s,
      cmd heading: 269.565164 deg,
      new cmd heading: 269.556736 deg.

2025-01-08T17:29:03.522Z,1736357343.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704653 target range: 132.699997 and range: 132.70 m.
2025-01-08T17:29:03.559Z,1736357343.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486268
2025-01-08T17:29:03.819Z,1736357343.819 [DAT](INFO): DAT read: 17:29:01.8635 LVL= 18128, 25761, 19202, 26291, AGC= 66, IDX= 410, 0.12, 2.524, 1.075, 2.378, 2.049, PHS= 0.563,-0.928, 0.326, RAW= 141.5,   0.6, CAL= 145.8,  -8.3, ROT=   4.2,   8.3

2025-01-08T17:29:03.820Z,1736357343.820 [DAT](INFO): got valid direction response:
 17:29:01.8635 LVL= 18128, 25761, 19202, 26291, AGC= 66, IDX= 410, 0.12, 2.524, 1.075, 2.378, 2.049, PHS= 0.563,-0.928, 0.326, RAW= 141.5,   0.6, CAL= 145.8,  -8.3, ROT=   4.2,   8.3

2025-01-08T17:29:03.821Z,1736357343.821 [DAT](INFO): DAT read: Bearing   4.2,   8.3 (Local)

2025-01-08T17:29:03.822Z,1736357343.822 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.2,   8.3 (Local)

2025-01-08T17:29:03.824Z,1736357343.824 [DAT](INFO): DAT read: Range 10 to 50 : 129.9 m  (Round-trip  173.2 ms) speed  0.4 m/s

2025-01-08T17:29:03.824Z,1736357343.824 [DAT](INFO): DAT read: user:186>

2025-01-08T17:29:03.825Z,1736357343.825 [DAT](INFO): DAT read: Tx time:17:29:02.9862

2025-01-08T17:29:03.825Z,1736357343.825 [DAT](INFO): Ping request sent.
2025-01-08T17:29:03.825Z,1736357343.825 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:29:03.826Z,1736357343.826 [DAT](INFO): DAT read: TxSync time:17:29:02.9854

2025-01-08T17:29:03.827Z,1736357343.827 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:29:03.828Z,1736357343.828 [DAT](INFO): direction in FSK: [0.986868,0.072471,-0.144356]
2025-01-08T17:29:03.828Z,1736357343.828 [DAT](INFO): publishing transmit ping time
2025-01-08T17:29:03.828Z,1736357343.828 [DAT](INFO): publishing direction and range info
2025-01-08T17:29:03.834Z,1736357343.834 [DAT](INFO): publishing transmit ping time
2025-01-08T17:29:03.834Z,1736357343.834 [DAT](INFO): publishing direction and range info
2025-01-08T17:29:04.077Z,1736357344.077 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:04.118Z,1736357344.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 129.899994 m,
      deltaT: 3.780719 s,
      deltaX: -2.800003 m,
      approachRate: -0.740601 m/s,
      rangeRepo size: 4

2025-01-08T17:29:04.125Z,1736357344.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 129.899994 m,
      bearing: 274.546209 deg,
      lat: 36.904175 deg,
      lon: -122.119118 deg,
      deltaT: 3.780719 s,
      deltaX: -2.800003 m,
      approachRate: -0.740601 m/s,
      posRepo size: 4

2025-01-08T17:29:04.128Z,1736357344.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.90 m.
2025-01-08T17:29:04.130Z,1736357344.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.899994 m,
      nav range: 128.601669 m,
      bearing: 273.453868 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.008154 deg/s,
      cmd heading: 269.556749 deg,
      new cmd heading: 269.542100 deg.

2025-01-08T17:29:04.131Z,1736357344.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704397 target range: 129.899994 and range: 129.90 m.
2025-01-08T17:29:04.409Z,1736357344.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:04.417Z,1736357344.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.90 m.
2025-01-08T17:29:04.420Z,1736357344.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.899994 m,
      nav range: 128.374878 m,
      bearing: 273.451245 deg,
      approach rate: -0.755312 m/s,
      LOS rate: -0.008751 deg/s,
      cmd heading: 269.542105 deg,
      new cmd heading: 269.534222 deg.

2025-01-08T17:29:04.421Z,1736357344.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704259 target range: 129.899994 and range: 129.90 m.
2025-01-08T17:29:04.812Z,1736357344.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:04.841Z,1736357344.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.90 m.
2025-01-08T17:29:04.849Z,1736357344.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.899994 m,
      nav range: 128.099411 m,
      bearing: 273.448130 deg,
      approach rate: -0.649872 m/s,
      LOS rate: -0.007365 deg/s,
      cmd heading: 269.534209 deg,
      new cmd heading: 269.524844 deg.

2025-01-08T17:29:04.850Z,1736357344.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704096 target range: 129.899994 and range: 129.90 m.
2025-01-08T17:29:05.261Z,1736357345.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:05.270Z,1736357345.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.90 m.
2025-01-08T17:29:05.273Z,1736357345.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.899994 m,
      nav range: 127.803917 m,
      bearing: 273.445276 deg,
      approach rate: -0.689202 m/s,
      LOS rate: -0.006673 deg/s,
      cmd heading: 269.524838 deg,
      new cmd heading: 269.516255 deg.

2025-01-08T17:29:05.275Z,1736357345.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703946 target range: 129.899994 and range: 129.90 m.
2025-01-08T17:29:05.654Z,1736357345.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:05.661Z,1736357345.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:05.664Z,1736357345.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.90 m.
2025-01-08T17:29:05.666Z,1736357345.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.899994 m,
      nav range: 127.545387 m,
      bearing: 273.442482 deg,
      approach rate: -0.657000 m/s,
      LOS rate: -0.007114 deg/s,
      cmd heading: 269.516259 deg,
      new cmd heading: 269.507861 deg.

2025-01-08T17:29:05.668Z,1736357345.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703800 target range: 129.899994 and range: 129.90 m.
2025-01-08T17:29:05.825Z,1736357345.825 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:05.825Z,1736357345.825 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:05.825Z,1736357345.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:29:06.076Z,1736357346.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250848
2025-01-08T17:29:06.081Z,1736357346.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:06.090Z,1736357346.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.90 m.
2025-01-08T17:29:06.096Z,1736357346.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.899994 m,
      nav range: 127.264725 m,
      bearing: 273.439947 deg,
      approach rate: -0.657694 m/s,
      LOS rate: -0.005953 deg/s,
      cmd heading: 269.507872 deg,
      new cmd heading: 269.500250 deg.

2025-01-08T17:29:06.097Z,1736357346.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703667 target range: 129.899994 and range: 129.90 m.
2025-01-08T17:29:06.330Z,1736357346.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504485
2025-01-08T17:29:06.480Z,1736357346.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:06.488Z,1736357346.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.90 m.
2025-01-08T17:29:06.492Z,1736357346.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.899994 m,
      nav range: 127.002785 m,
      bearing: 273.437571 deg,
      approach rate: -0.657880 m/s,
      LOS rate: -0.005980 deg/s,
      cmd heading: 269.500249 deg,
      new cmd heading: 269.493107 deg.

2025-01-08T17:29:06.493Z,1736357346.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703542 target range: 129.899994 and range: 129.90 m.
2025-01-08T17:29:06.581Z,1736357346.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755562
2025-01-08T17:29:06.832Z,1736357346.832 [DAT](INFO): DAT read: Rx Time:17:29:05.5602

2025-01-08T17:29:06.833Z,1736357346.833 [DAT](INFO): Rx dataTimestamp_ set to:1736357346.832527
2025-01-08T17:29:06.833Z,1736357346.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007867
2025-01-08T17:29:06.882Z,1736357346.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:06.905Z,1736357346.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.90 m.
2025-01-08T17:29:06.912Z,1736357346.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.899994 m,
      nav range: 126.739006 m,
      bearing: 273.434882 deg,
      approach rate: -0.633258 m/s,
      LOS rate: -0.006469 deg/s,
      cmd heading: 269.493119 deg,
      new cmd heading: 269.485035 deg.

2025-01-08T17:29:06.913Z,1736357346.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703401 target range: 129.899994 and range: 129.90 m.
2025-01-08T17:29:07.020Z,1736357347.020 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:29:07.089Z,1736357347.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262368
2025-01-08T17:29:07.343Z,1736357347.343 [DAT](INFO): DAT read: 17:29:05.5602 LVL= 25328, 29281, 23666, 32051, AGC= 64, IDX= 408, 0.07,-2.524, 2.367,-2.627,-2.955, PHS= 0.519,-0.915, 0.325, RAW= 142.8,   1.1, CAL= 146.8,  -7.8, ROT=   3.2,   7.8

2025-01-08T17:29:07.345Z,1736357347.345 [DAT](INFO): got valid direction response:
 17:29:05.5602 LVL= 25328, 29281, 23666, 32051, AGC= 64, IDX= 408, 0.07,-2.524, 2.367,-2.627,-2.955, PHS= 0.519,-0.915, 0.325, RAW= 142.8,   1.1, CAL= 146.8,  -7.8, ROT=   3.2,   7.8

2025-01-08T17:29:07.346Z,1736357347.346 [DAT](INFO): DAT read: Bearing   3.2,   7.8 (Local)

2025-01-08T17:29:07.346Z,1736357347.346 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.2,   7.8 (Local)

2025-01-08T17:29:07.348Z,1736357347.348 [DAT](INFO): DAT read: Range 10 to 50 : 127.4 m  (Round-trip  169.9 ms) speed  0.1 m/s

2025-01-08T17:29:07.349Z,1736357347.349 [DAT](INFO): DAT read: user:187>

2025-01-08T17:29:07.350Z,1736357347.350 [DAT](INFO): DAT read: Tx time:17:29:06.6862

2025-01-08T17:29:07.350Z,1736357347.350 [DAT](INFO): Ping request sent.
2025-01-08T17:29:07.350Z,1736357347.350 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:29:07.350Z,1736357347.350 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:29:07.352Z,1736357347.352 [DAT](INFO): direction in FSK: [0.989203,0.055305,-0.135716]
2025-01-08T17:29:07.352Z,1736357347.352 [DAT](INFO): publishing transmit ping time
2025-01-08T17:29:07.352Z,1736357347.352 [DAT](INFO): publishing direction and range info
2025-01-08T17:29:07.359Z,1736357347.359 [DAT](INFO): publishing transmit ping time
2025-01-08T17:29:07.360Z,1736357347.360 [DAT](INFO): publishing direction and range info
2025-01-08T17:29:07.405Z,1736357347.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:07.466Z,1736357347.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 127.400002 m,
      deltaT: 3.527112 s,
      deltaX: -2.499992 m,
      approachRate: -0.708793 m/s,
      rangeRepo size: 4

2025-01-08T17:29:07.484Z,1736357347.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 127.400002 m,
      bearing: 273.774729 deg,
      lat: 36.904182 deg,
      lon: -122.119117 deg,
      deltaT: 3.527112 s,
      deltaX: -2.499992 m,
      approachRate: -0.708793 m/s,
      posRepo size: 4

2025-01-08T17:29:07.485Z,1736357347.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:07.492Z,1736357347.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 126.381065 m,
      bearing: 273.772595 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006469 deg/s,
      cmd heading: 269.485032 deg,
      new cmd heading: 269.474160 deg.

2025-01-08T17:29:07.493Z,1736357347.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703211 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:07.588Z,1736357347.588 [DAT](INFO): DAT read: TxSync time:17:29:06.6854

2025-01-08T17:29:07.787Z,1736357347.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:07.802Z,1736357347.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:07.808Z,1736357347.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:07.816Z,1736357347.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 126.142876 m,
      bearing: 273.770163 deg,
      approach rate: -0.693731 m/s,
      LOS rate: -0.007097 deg/s,
      cmd heading: 269.474158 deg,
      new cmd heading: 269.466848 deg.

2025-01-08T17:29:07.817Z,1736357347.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703084 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:07.841Z,1736357347.841 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:07.841Z,1736357347.841 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:07.841Z,1736357347.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:29:08.025Z,1736357348.025 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:29:08.092Z,1736357348.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.742236
2025-01-08T17:29:08.197Z,1736357348.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:08.205Z,1736357348.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:08.208Z,1736357348.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 125.889008 m,
      bearing: 273.771397 deg,
      approach rate: -0.640198 m/s,
      LOS rate: 0.003118 deg/s,
      cmd heading: 269.466836 deg,
      new cmd heading: 269.470545 deg.

2025-01-08T17:29:08.209Z,1736357348.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703148 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:08.344Z,1736357348.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994246
2025-01-08T17:29:08.589Z,1736357348.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:08.598Z,1736357348.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247120
2025-01-08T17:29:08.612Z,1736357348.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:08.614Z,1736357348.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 125.645782 m,
      bearing: 273.772607 deg,
      approach rate: -0.597707 m/s,
      LOS rate: 0.002981 deg/s,
      cmd heading: 269.470552 deg,
      new cmd heading: 269.474190 deg.

2025-01-08T17:29:08.616Z,1736357348.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703212 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:08.850Z,1736357348.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499026
2025-01-08T17:29:09.066Z,1736357349.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:09.098Z,1736357349.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:09.101Z,1736357349.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750483
2025-01-08T17:29:09.105Z,1736357349.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 125.355667 m,
      bearing: 273.773538 deg,
      approach rate: -0.596778 m/s,
      LOS rate: 0.001919 deg/s,
      cmd heading: 269.474185 deg,
      new cmd heading: 269.476985 deg.

2025-01-08T17:29:09.106Z,1736357349.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703260 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:09.353Z,1736357349.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002957
2025-01-08T17:29:09.388Z,1736357349.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:09.420Z,1736357349.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:09.422Z,1736357349.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 125.160072 m,
      bearing: 273.773962 deg,
      approach rate: -0.611270 m/s,
      LOS rate: 0.001325 deg/s,
      cmd heading: 269.476972 deg,
      new cmd heading: 269.478244 deg.

2025-01-08T17:29:09.424Z,1736357349.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703283 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:09.604Z,1736357349.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254074
2025-01-08T17:29:09.788Z,1736357349.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:09.798Z,1736357349.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:09.801Z,1736357349.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 124.916565 m,
      bearing: 273.774223 deg,
      approach rate: -0.640893 m/s,
      LOS rate: 0.000688 deg/s,
      cmd heading: 269.478256 deg,
      new cmd heading: 269.479041 deg.

2025-01-08T17:29:09.802Z,1736357349.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703297 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:09.860Z,1736357349.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509406
2025-01-08T17:29:10.112Z,1736357350.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762189
2025-01-08T17:29:10.223Z,1736357350.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:10.232Z,1736357350.232 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:10.234Z,1736357350.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:10.237Z,1736357350.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 124.647469 m,
      bearing: 273.776730 deg,
      approach rate: -0.617695 m/s,
      LOS rate: 0.005768 deg/s,
      cmd heading: 269.479048 deg,
      new cmd heading: 269.486587 deg.

2025-01-08T17:29:10.238Z,1736357350.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703428 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:10.364Z,1736357350.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014258
2025-01-08T17:29:10.598Z,1736357350.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:10.606Z,1736357350.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:10.616Z,1736357350.616 [DAT](INFO): DAT read: Rx Time:17:29:09.2577

2025-01-08T17:29:10.617Z,1736357350.617 [DAT](INFO): Rx dataTimestamp_ set to:1736357350.616399
2025-01-08T17:29:10.617Z,1736357350.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267073
2025-01-08T17:29:10.629Z,1736357350.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 124.415588 m,
      bearing: 273.778803 deg,
      approach rate: -0.622753 m/s,
      LOS rate: 0.005577 deg/s,
      cmd heading: 269.486589 deg,
      new cmd heading: 269.492818 deg.

2025-01-08T17:29:10.630Z,1736357350.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703537 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:10.869Z,1736357350.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518944
2025-01-08T17:29:11.114Z,1736357351.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:11.130Z,1736357351.130 [DAT](INFO): DAT read: 17:29:09.2577 LVL= 29312, 32753, 24754, 32755, AGC= 67, IDX= 414,-0.22, 2.283, 0.913, 2.214, 1.874, PHS= 0.497,-0.914, 0.338, RAW= 144.1,   1.2, CAL= 147.8,  -7.6, ROT=   2.2,   7.6

2025-01-08T17:29:11.131Z,1736357351.131 [DAT](INFO): got valid direction response:
 17:29:09.2577 LVL= 29312, 32753, 24754, 32755, AGC= 67, IDX= 414,-0.22, 2.283, 0.913, 2.214, 1.874, PHS= 0.497,-0.914, 0.338, RAW= 144.1,   1.2, CAL= 147.8,  -7.6, ROT=   2.2,   7.6

2025-01-08T17:29:11.134Z,1736357351.134 [DAT](INFO): DAT read: $Error in header

2025-01-08T17:29:11.137Z,1736357351.137 [DAT](INFO): Received a bad header
2025-01-08T17:29:11.155Z,1736357351.155 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-08T17:29:11.156Z,1736357351.156 [DAT](INFO): direction in FSK: [0.990485,0.038051,-0.132256]
2025-01-08T17:29:11.161Z,1736357351.161 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:11.161Z,1736357351.161 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:11.161Z,1736357351.161 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:11.177Z,1736357351.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:11.184Z,1736357351.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 124.094414 m,
      bearing: 273.784790 deg,
      approach rate: -0.562753 m/s,
      LOS rate: 0.010519 deg/s,
      cmd heading: 269.492818 deg,
      new cmd heading: 269.510828 deg.

2025-01-08T17:29:11.185Z,1736357351.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703851 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:11.372Z,1736357351.372 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:11.372Z,1736357351.372 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:11.372Z,1736357351.372 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:11.473Z,1736357351.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:11.498Z,1736357351.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:11.505Z,1736357351.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 123.870407 m,
      bearing: 273.788690 deg,
      approach rate: -0.696058 m/s,
      LOS rate: 0.012139 deg/s,
      cmd heading: 269.510823 deg,
      new cmd heading: 269.522543 deg.

2025-01-08T17:29:11.506Z,1736357351.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704056 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:11.625Z,1736357351.625 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:11.625Z,1736357351.625 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:11.625Z,1736357351.625 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:11.876Z,1736357351.876 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:11.876Z,1736357351.876 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:11.876Z,1736357351.876 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:11.885Z,1736357351.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:11.912Z,1736357351.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:11.914Z,1736357351.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 123.613823 m,
      bearing: 273.793113 deg,
      approach rate: -0.639990 m/s,
      LOS rate: 0.011055 deg/s,
      cmd heading: 269.522543 deg,
      new cmd heading: 269.535839 deg.

2025-01-08T17:29:11.920Z,1736357351.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704288 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:12.129Z,1736357352.129 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:12.129Z,1736357352.129 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:12.129Z,1736357352.129 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:12.305Z,1736357352.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:12.333Z,1736357352.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:12.345Z,1736357352.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:12.351Z,1736357352.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 123.344910 m,
      bearing: 273.794999 deg,
      approach rate: -0.616956 m/s,
      LOS rate: 0.004336 deg/s,
      cmd heading: 269.535848 deg,
      new cmd heading: 269.541519 deg.

2025-01-08T17:29:12.353Z,1736357352.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704387 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:12.380Z,1736357352.380 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:12.380Z,1736357352.380 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:12.380Z,1736357352.380 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:12.632Z,1736357352.632 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:12.632Z,1736357352.632 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:12.632Z,1736357352.632 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:12.717Z,1736357352.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:12.726Z,1736357352.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:12.745Z,1736357352.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 123.081955 m,
      bearing: 273.796793 deg,
      approach rate: -0.673016 m/s,
      LOS rate: 0.004602 deg/s,
      cmd heading: 269.541531 deg,
      new cmd heading: 269.546925 deg.

2025-01-08T17:29:12.746Z,1736357352.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704481 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:12.884Z,1736357352.884 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:12.884Z,1736357352.884 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:12.884Z,1736357352.884 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:13.136Z,1736357353.136 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:13.136Z,1736357353.136 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:13.136Z,1736357353.136 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:13.143Z,1736357353.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:13.154Z,1736357353.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:13.161Z,1736357353.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 122.797508 m,
      bearing: 273.800244 deg,
      approach rate: -0.666490 m/s,
      LOS rate: 0.008105 deg/s,
      cmd heading: 269.546913 deg,
      new cmd heading: 269.557290 deg.

2025-01-08T17:29:13.165Z,1736357353.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704662 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:13.389Z,1736357353.389 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:13.389Z,1736357353.389 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:13.389Z,1736357353.389 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:13.501Z,1736357353.501 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:13.510Z,1736357353.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:13.513Z,1736357353.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 122.558594 m,
      bearing: 273.803147 deg,
      approach rate: -0.669112 m/s,
      LOS rate: 0.008147 deg/s,
      cmd heading: 269.557295 deg,
      new cmd heading: 269.566022 deg.

2025-01-08T17:29:13.514Z,1736357353.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704814 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:13.640Z,1736357353.640 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:13.640Z,1736357353.640 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:13.641Z,1736357353.641 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:13.892Z,1736357353.892 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:13.892Z,1736357353.892 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:13.892Z,1736357353.892 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:13.899Z,1736357353.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:13.908Z,1736357353.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:13.911Z,1736357353.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 122.293343 m,
      bearing: 273.806391 deg,
      approach rate: -0.667806 m/s,
      LOS rate: 0.008184 deg/s,
      cmd heading: 269.566010 deg,
      new cmd heading: 269.575763 deg.

2025-01-08T17:29:13.912Z,1736357353.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704985 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:14.145Z,1736357354.145 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:14.145Z,1736357354.145 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:14.145Z,1736357354.145 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:14.322Z,1736357354.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:14.332Z,1736357354.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:14.335Z,1736357354.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 121.992447 m,
      bearing: 273.808206 deg,
      approach rate: -0.707311 m/s,
      LOS rate: 0.004278 deg/s,
      cmd heading: 269.575764 deg,
      new cmd heading: 269.581224 deg.

2025-01-08T17:29:14.336Z,1736357354.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705080 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:14.397Z,1736357354.397 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:14.397Z,1736357354.397 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:14.397Z,1736357354.397 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:14.648Z,1736357354.648 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:14.648Z,1736357354.648 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:14.648Z,1736357354.648 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:14.760Z,1736357354.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:14.775Z,1736357354.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:14.777Z,1736357354.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:14.782Z,1736357354.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 121.681694 m,
      bearing: 273.810234 deg,
      approach rate: -0.698513 m/s,
      LOS rate: 0.004570 deg/s,
      cmd heading: 269.581228 deg,
      new cmd heading: 269.587327 deg.

2025-01-08T17:29:14.783Z,1736357354.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705186 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:14.901Z,1736357354.901 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:14.901Z,1736357354.901 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:14.901Z,1736357354.901 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:15.154Z,1736357355.154 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:15.154Z,1736357355.154 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:15.155Z,1736357355.155 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:15.209Z,1736357355.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:15.234Z,1736357355.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:15.242Z,1736357355.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 121.351860 m,
      bearing: 273.813261 deg,
      approach rate: -0.722617 m/s,
      LOS rate: 0.006649 deg/s,
      cmd heading: 269.587321 deg,
      new cmd heading: 269.596426 deg.

2025-01-08T17:29:15.243Z,1736357355.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705345 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:15.404Z,1736357355.404 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:15.404Z,1736357355.404 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:15.404Z,1736357355.404 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:15.656Z,1736357355.656 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:15.656Z,1736357355.656 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:15.656Z,1736357355.656 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:15.670Z,1736357355.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:15.681Z,1736357355.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:15.686Z,1736357355.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 121.013123 m,
      bearing: 273.816638 deg,
      approach rate: -0.757174 m/s,
      LOS rate: 0.007570 deg/s,
      cmd heading: 269.596418 deg,
      new cmd heading: 269.606578 deg.

2025-01-08T17:29:15.688Z,1736357355.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705523 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:15.909Z,1736357355.909 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:15.909Z,1736357355.909 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:15.909Z,1736357355.909 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:16.161Z,1736357356.161 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:16.161Z,1736357356.161 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:16.161Z,1736357356.161 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:16.173Z,1736357356.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:16.190Z,1736357356.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:16.217Z,1736357356.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 120.643982 m,
      bearing: 273.820340 deg,
      approach rate: -0.725247 m/s,
      LOS rate: 0.007295 deg/s,
      cmd heading: 269.606582 deg,
      new cmd heading: 269.617721 deg.

2025-01-08T17:29:16.218Z,1736357356.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705717 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:16.412Z,1736357356.412 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:16.412Z,1736357356.412 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:16.412Z,1736357356.412 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:16.553Z,1736357356.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:16.582Z,1736357356.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:16.598Z,1736357356.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 120.352867 m,
      bearing: 273.822707 deg,
      approach rate: -0.742267 m/s,
      LOS rate: 0.006051 deg/s,
      cmd heading: 269.617729 deg,
      new cmd heading: 269.624848 deg.

2025-01-08T17:29:16.628Z,1736357356.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705842 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:16.665Z,1736357356.665 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:16.665Z,1736357356.665 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:16.665Z,1736357356.665 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:16.902Z,1736357356.902 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:16.910Z,1736357356.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:16.912Z,1736357356.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:16.917Z,1736357356.917 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:16.917Z,1736357356.917 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:16.917Z,1736357356.917 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:16.917Z,1736357356.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 120.085304 m,
      bearing: 273.825452 deg,
      approach rate: -0.810561 m/s,
      LOS rate: 0.008334 deg/s,
      cmd heading: 269.624859 deg,
      new cmd heading: 269.633113 deg.

2025-01-08T17:29:16.918Z,1736357356.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705986 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:17.168Z,1736357357.168 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:17.168Z,1736357357.168 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:17.168Z,1736357357.168 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:17.342Z,1736357357.342 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:17.355Z,1736357357.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:17.359Z,1736357357.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 119.748680 m,
      bearing: 273.830570 deg,
      approach rate: -0.760610 m/s,
      LOS rate: 0.011595 deg/s,
      cmd heading: 269.633110 deg,
      new cmd heading: 269.648506 deg.

2025-01-08T17:29:17.364Z,1736357357.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706254 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:17.420Z,1736357357.420 [DAT](INFO): Reached modem response timeout
2025-01-08T17:29:17.420Z,1736357357.420 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:29:17.420Z,1736357357.420 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:29:17.672Z,1736357357.672 [DAT](INFO): Reached modem response timeout
2025-01-08T17:29:17.672Z,1736357357.672 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:29:17.672Z,1736357357.672 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:29:17.752Z,1736357357.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:17.762Z,1736357357.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:17.765Z,1736357357.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 119.433990 m,
      bearing: 273.835676 deg,
      approach rate: -0.772436 m/s,
      LOS rate: 0.012567 deg/s,
      cmd heading: 269.648519 deg,
      new cmd heading: 269.663878 deg.

2025-01-08T17:29:17.766Z,1736357357.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706522 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:17.925Z,1736357357.925 [DAT](INFO): Reached modem response timeout
2025-01-08T17:29:17.925Z,1736357357.925 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:29:17.925Z,1736357357.925 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:29:18.168Z,1736357358.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:18.177Z,1736357358.177 [DAT](INFO): Reached modem response timeout
2025-01-08T17:29:18.178Z,1736357358.178 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:29:18.178Z,1736357358.178 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:29:18.185Z,1736357358.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:18.191Z,1736357358.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 119.115799 m,
      bearing: 273.841081 deg,
      approach rate: -0.753719 m/s,
      LOS rate: 0.012837 deg/s,
      cmd heading: 269.663873 deg,
      new cmd heading: 269.680131 deg.

2025-01-08T17:29:18.192Z,1736357358.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706806 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:18.429Z,1736357358.429 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:29:18.430Z,1736357358.430 [DAT](INFO): response not received
2025-01-08T17:29:18.430Z,1736357358.430 [DAT](INFO): DAT read: user:189>

2025-01-08T17:29:18.432Z,1736357358.432 [DAT](INFO): DAT read: Tx time:17:29:17.6363

2025-01-08T17:29:18.432Z,1736357358.432 [DAT](INFO): Ping request sent.
2025-01-08T17:29:18.432Z,1736357358.432 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:29:18.433Z,1736357358.433 [DAT](INFO): publishing transmit ping time
2025-01-08T17:29:18.434Z,1736357358.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001197
2025-01-08T17:29:18.580Z,1736357358.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:18.590Z,1736357358.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:18.594Z,1736357358.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 118.807564 m,
      bearing: 273.842107 deg,
      approach rate: -0.760781 m/s,
      LOS rate: 0.002539 deg/s,
      cmd heading: 269.680129 deg,
      new cmd heading: 269.683215 deg.

2025-01-08T17:29:18.595Z,1736357358.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706860 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:18.682Z,1736357358.682 [DAT](INFO): DAT read: TxSync time:17:29:17.6355

2025-01-08T17:29:18.683Z,1736357358.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250711
2025-01-08T17:29:18.932Z,1736357358.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500324
2025-01-08T17:29:18.934Z,1736357358.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:18.942Z,1736357358.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:18.944Z,1736357358.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:18.947Z,1736357358.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 118.543480 m,
      bearing: 273.843474 deg,
      approach rate: -0.744956 m/s,
      LOS rate: 0.003866 deg/s,
      cmd heading: 269.683217 deg,
      new cmd heading: 269.687328 deg.

2025-01-08T17:29:18.948Z,1736357358.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706932 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:19.184Z,1736357359.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752244
2025-01-08T17:29:19.348Z,1736357359.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:19.380Z,1736357359.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:19.383Z,1736357359.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 118.248909 m,
      bearing: 273.844636 deg,
      approach rate: -0.675513 m/s,
      LOS rate: 0.002670 deg/s,
      cmd heading: 269.687315 deg,
      new cmd heading: 269.690807 deg.

2025-01-08T17:29:19.388Z,1736357359.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706993 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:19.437Z,1736357359.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004804
2025-01-08T17:29:19.689Z,1736357359.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256878
2025-01-08T17:29:19.743Z,1736357359.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:19.752Z,1736357359.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:19.754Z,1736357359.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 117.967674 m,
      bearing: 273.846218 deg,
      approach rate: -0.758239 m/s,
      LOS rate: 0.004277 deg/s,
      cmd heading: 269.690812 deg,
      new cmd heading: 269.695571 deg.

2025-01-08T17:29:19.755Z,1736357359.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707076 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:19.941Z,1736357359.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509085
2025-01-08T17:29:20.195Z,1736357360.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762505
2025-01-08T17:29:20.206Z,1736357360.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:20.230Z,1736357360.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:20.245Z,1736357360.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 117.637741 m,
      bearing: 273.848226 deg,
      approach rate: -0.689163 m/s,
      LOS rate: 0.004205 deg/s,
      cmd heading: 269.695565 deg,
      new cmd heading: 269.701605 deg.

2025-01-08T17:29:20.246Z,1736357360.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707181 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:20.444Z,1736357360.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012424
2025-01-08T17:29:20.563Z,1736357360.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:20.572Z,1736357360.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:20.576Z,1736357360.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 117.399132 m,
      bearing: 273.850020 deg,
      approach rate: -0.697360 m/s,
      LOS rate: 0.005255 deg/s,
      cmd heading: 269.701603 deg,
      new cmd heading: 269.706998 deg.

2025-01-08T17:29:20.577Z,1736357360.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707275 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:20.697Z,1736357360.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265245
2025-01-08T17:29:20.944Z,1736357360.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:20.949Z,1736357360.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516624
2025-01-08T17:29:20.953Z,1736357360.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:20.955Z,1736357360.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:20.958Z,1736357360.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 117.143799 m,
      bearing: 273.851896 deg,
      approach rate: -0.667200 m/s,
      LOS rate: 0.004911 deg/s,
      cmd heading: 269.706986 deg,
      new cmd heading: 269.712624 deg.

2025-01-08T17:29:20.960Z,1736357360.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707373 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:21.200Z,1736357361.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768223
2025-01-08T17:29:21.373Z,1736357361.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:29:21.373Z,1736357361.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:21.386Z,1736357361.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:21.389Z,1736357361.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 116.856972 m,
      bearing: 273.854012 deg,
      approach rate: -0.664456 m/s,
      LOS rate: 0.004915 deg/s,
      cmd heading: 269.712614 deg,
      new cmd heading: 269.718979 deg.

2025-01-08T17:29:21.391Z,1736357361.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707484 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:21.453Z,1736357361.453 [DAT](INFO): DAT read: Rx Time:17:29:20.1971

2025-01-08T17:29:21.453Z,1736357361.453 [DAT](INFO): Rx dataTimestamp_ set to:1736357361.452699
2025-01-08T17:29:21.454Z,1736357361.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021504
2025-01-08T17:29:21.705Z,1736357361.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272658
2025-01-08T17:29:21.762Z,1736357361.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:29:21.762Z,1736357361.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:21.771Z,1736357361.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.40 m.
2025-01-08T17:29:21.775Z,1736357361.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.400002 m,
      nav range: 116.596497 m,
      bearing: 273.855541 deg,
      approach rate: -0.677553 m/s,
      LOS rate: 0.003984 deg/s,
      cmd heading: 269.718979 deg,
      new cmd heading: 269.723575 deg.

2025-01-08T17:29:21.776Z,1736357361.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707564 target range: 127.400002 and range: 127.40 m.
2025-01-08T17:29:21.963Z,1736357361.963 [DAT](INFO): DAT read: 17:29:20.1971 LVL= 23952, 27121, 21362, 32339, AGC= 65, IDX= 336,-0.19,-0.294,-1.614,-0.360,-0.715, PHS= 0.508,-0.852, 0.352, RAW= 144.0,  -0.1, CAL= 148.0,  -9.1, ROT=   2.0,   9.1

2025-01-08T17:29:21.964Z,1736357361.964 [DAT](INFO): got valid direction response:
 17:29:20.1971 LVL= 23952, 27121, 21362, 32339, AGC= 65, IDX= 336,-0.19,-0.294,-1.614,-0.360,-0.715, PHS= 0.508,-0.852, 0.352, RAW= 144.0,  -0.1, CAL= 148.0,  -9.1, ROT=   2.0,   9.1

2025-01-08T17:29:21.966Z,1736357361.966 [DAT](INFO): DAT read: Bearing   2.0,   9.1 (Local)

2025-01-08T17:29:21.966Z,1736357361.966 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.0,   9.1 (Local)

2025-01-08T17:29:21.969Z,1736357361.969 [DAT](INFO): DAT read: Range 10 to 50 : 117.4 m  (Round-trip  156.6 ms) speed  0.8 m/s

2025-01-08T17:29:21.970Z,1736357361.970 [DAT](INFO): DAT read: user:190>

2025-01-08T17:29:21.970Z,1736357361.970 [DAT](INFO): DAT read: Tx time:17:29:21.2864

2025-01-08T17:29:21.971Z,1736357361.971 [DAT](INFO): Ping request sent.
2025-01-08T17:29:21.971Z,1736357361.971 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:29:21.975Z,1736357361.975 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:29:21.989Z,1736357361.989 [DAT](INFO): direction in FSK: [0.986812,0.034460,-0.158158]
2025-01-08T17:29:21.990Z,1736357361.990 [DAT](INFO): publishing transmit ping time
2025-01-08T17:29:21.990Z,1736357361.990 [DAT](INFO): publishing direction and range info
2025-01-08T17:29:21.995Z,1736357361.995 [DAT](INFO): publishing transmit ping time
2025-01-08T17:29:22.028Z,1736357362.028 [DAT](INFO): publishing direction and range info
2025-01-08T17:29:22.223Z,1736357362.223 [DAT](INFO): DAT read: TxSync time:17:29:21.2856

2025-01-08T17:29:22.230Z,1736357362.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s.
2025-01-08T17:29:22.230Z,1736357362.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:22.276Z,1736357362.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 117.400002 m,
      deltaT: 14.619926 s,
      deltaX: -10.000000 m,
      approachRate: -0.683998 m/s,
      rangeRepo size: 4

2025-01-08T17:29:22.278Z,1736357362.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 117.400002 m,
      bearing: 272.334750 deg,
      lat: 36.904182 deg,
      lon: -122.119117 deg,
      deltaT: 14.619926 s,
      deltaX: -10.000000 m,
      approachRate: -0.683998 m/s,
      posRepo size: 4

2025-01-08T17:29:22.285Z,1736357362.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:22.296Z,1736357362.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 116.312477 m,
      bearing: 273.856007 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003984 deg/s,
      cmd heading: 269.723569 deg,
      new cmd heading: 269.729531 deg.

2025-01-08T17:29:22.297Z,1736357362.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707668 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:22.603Z,1736357362.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:22.636Z,1736357362.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:22.639Z,1736357362.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 116.089615 m,
      bearing: 273.852567 deg,
      approach rate: -0.607723 m/s,
      LOS rate: -0.009398 deg/s,
      cmd heading: 269.729525 deg,
      new cmd heading: 269.719186 deg.

2025-01-08T17:29:22.645Z,1736357362.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707488 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:22.990Z,1736357362.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:22.998Z,1736357362.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:22.000Z,1736357363.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:23.002Z,1736357363.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 115.859009 m,
      bearing: 273.848892 deg,
      approach rate: -0.634901 m/s,
      LOS rate: -0.010138 deg/s,
      cmd heading: 269.719198 deg,
      new cmd heading: 269.708151 deg.

2025-01-08T17:29:23.004Z,1736357363.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707295 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:23.221Z,1736357363.221 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:23.222Z,1736357363.222 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:23.223Z,1736357363.223 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:29:23.431Z,1736357363.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:23.439Z,1736357363.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:23.443Z,1736357363.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 115.601784 m,
      bearing: 273.843461 deg,
      approach rate: -0.585403 m/s,
      LOS rate: -0.012388 deg/s,
      cmd heading: 269.708160 deg,
      new cmd heading: 269.691831 deg.

2025-01-08T17:29:23.444Z,1736357363.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707010 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:23.468Z,1736357363.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497418
2025-01-08T17:29:23.720Z,1736357363.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749469
2025-01-08T17:29:23.800Z,1736357363.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:23.828Z,1736357363.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:23.831Z,1736357363.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 115.386345 m,
      bearing: 273.838411 deg,
      approach rate: -0.553152 m/s,
      LOS rate: -0.012991 deg/s,
      cmd heading: 269.691823 deg,
      new cmd heading: 269.676644 deg.

2025-01-08T17:29:23.833Z,1736357363.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706745 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:23.972Z,1736357363.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001329
2025-01-08T17:29:24.232Z,1736357364.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259819
2025-01-08T17:29:24.266Z,1736357364.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:24.290Z,1736357364.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:24.301Z,1736357364.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 115.114357 m,
      bearing: 273.831409 deg,
      approach rate: -0.588878 m/s,
      LOS rate: -0.015196 deg/s,
      cmd heading: 269.676632 deg,
      new cmd heading: 269.655577 deg.

2025-01-08T17:29:24.305Z,1736357364.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706378 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:24.476Z,1736357364.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505464
2025-01-08T17:29:24.639Z,1736357364.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:24.669Z,1736357364.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:24.676Z,1736357364.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 114.895576 m,
      bearing: 273.826090 deg,
      approach rate: -0.578063 m/s,
      LOS rate: -0.014081 deg/s,
      cmd heading: 269.655568 deg,
      new cmd heading: 269.639580 deg.

2025-01-08T17:29:24.677Z,1736357364.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706099 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:24.729Z,1736357364.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757670
2025-01-08T17:29:24.980Z,1736357364.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009374
2025-01-08T17:29:25.020Z,1736357365.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:25.029Z,1736357365.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:25.031Z,1736357365.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:25.034Z,1736357365.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 114.672363 m,
      bearing: 273.819889 deg,
      approach rate: -0.616364 m/s,
      LOS rate: -0.017155 deg/s,
      cmd heading: 269.639585 deg,
      new cmd heading: 269.620947 deg.

2025-01-08T17:29:25.035Z,1736357365.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705773 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:25.241Z,1736357365.241 [DAT](INFO): DAT read: Rx Time:17:29:23.8444

2025-01-08T17:29:25.244Z,1736357365.244 [DAT](INFO): Rx dataTimestamp_ set to:1736357365.242217
2025-01-08T17:29:25.247Z,1736357365.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275030
2025-01-08T17:29:25.458Z,1736357365.458 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:25.466Z,1736357365.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:25.469Z,1736357365.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 114.400223 m,
      bearing: 273.814987 deg,
      approach rate: -0.625244 m/s,
      LOS rate: -0.011290 deg/s,
      cmd heading: 269.620953 deg,
      new cmd heading: 269.606210 deg.

2025-01-08T17:29:25.470Z,1736357365.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705516 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:25.489Z,1736357365.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518431
2025-01-08T17:29:25.747Z,1736357365.747 [DAT](INFO): DAT read: 17:29:23.8445 LVL= 24992, 32753, 22194, 32755, AGC= 66, IDX= 421,-0.33, 0.816,-0.585, 0.766, 0.369, PHS= 0.535,-0.907, 0.394, RAW= 144.9,  -0.3, CAL= 148.8,  -9.4, ROT=   1.2,   9.4

2025-01-08T17:29:25.748Z,1736357365.748 [DAT](INFO): got valid direction response:
 17:29:23.8445 LVL= 24992, 32753, 22194, 32755, AGC= 66, IDX= 421,-0.33, 0.816,-0.585, 0.766, 0.369, PHS= 0.535,-0.907, 0.394, RAW= 144.9,  -0.3, CAL= 148.8,  -9.4, ROT=   1.2,   9.4

2025-01-08T17:29:25.749Z,1736357365.749 [DAT](INFO): DAT read: $Error in header

2025-01-08T17:29:25.749Z,1736357365.749 [DAT](INFO): Received a bad header
2025-01-08T17:29:25.763Z,1736357365.763 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-08T17:29:25.764Z,1736357365.764 [DAT](INFO): direction in FSK: [0.986356,0.020661,-0.163326]
2025-01-08T17:29:25.768Z,1736357365.768 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:25.768Z,1736357365.768 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:25.768Z,1736357365.768 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:25.840Z,1736357365.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:25.858Z,1736357365.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:25.865Z,1736357365.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 114.162018 m,
      bearing: 273.810299 deg,
      approach rate: -0.609472 m/s,
      LOS rate: -0.012020 deg/s,
      cmd heading: 269.606199 deg,
      new cmd heading: 269.592105 deg.

2025-01-08T17:29:25.866Z,1736357365.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705270 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:25.992Z,1736357365.992 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:25.992Z,1736357365.992 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:25.992Z,1736357365.992 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:26.246Z,1736357366.246 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:26.247Z,1736357366.247 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:26.247Z,1736357366.247 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:26.279Z,1736357366.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:26.300Z,1736357366.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:26.303Z,1736357366.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 113.889442 m,
      bearing: 273.804889 deg,
      approach rate: -0.615371 m/s,
      LOS rate: -0.012242 deg/s,
      cmd heading: 269.592102 deg,
      new cmd heading: 269.575834 deg.

2025-01-08T17:29:26.308Z,1736357366.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704986 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:26.496Z,1736357366.496 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:26.496Z,1736357366.496 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:26.496Z,1736357366.496 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:26.669Z,1736357366.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:26.697Z,1736357366.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:26.712Z,1736357366.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 113.633598 m,
      bearing: 273.800049 deg,
      approach rate: -0.644840 m/s,
      LOS rate: -0.012226 deg/s,
      cmd heading: 269.575846 deg,
      new cmd heading: 269.561294 deg.

2025-01-08T17:29:26.713Z,1736357366.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704732 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:26.748Z,1736357366.748 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:26.748Z,1736357366.748 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:26.748Z,1736357366.748 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:27.000Z,1736357367.000 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:27.000Z,1736357367.000 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:27.000Z,1736357367.000 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:27.030Z,1736357367.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:27.037Z,1736357367.037 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:27.039Z,1736357367.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:27.062Z,1736357367.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 113.398499 m,
      bearing: 273.795719 deg,
      approach rate: -0.687563 m/s,
      LOS rate: -0.012692 deg/s,
      cmd heading: 269.561284 deg,
      new cmd heading: 269.548265 deg.

2025-01-08T17:29:27.063Z,1736357367.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704504 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:27.254Z,1736357367.254 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:27.255Z,1736357367.255 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:27.255Z,1736357367.255 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:27.456Z,1736357367.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:27.481Z,1736357367.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:27.488Z,1736357367.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 113.109093 m,
      bearing: 273.793452 deg,
      approach rate: -0.653856 m/s,
      LOS rate: -0.005134 deg/s,
      cmd heading: 269.548252 deg,
      new cmd heading: 269.541435 deg.

2025-01-08T17:29:27.489Z,1736357367.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704385 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:27.504Z,1736357367.504 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:27.504Z,1736357367.504 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:27.505Z,1736357367.505 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:27.758Z,1736357367.758 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:27.758Z,1736357367.758 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:27.758Z,1736357367.758 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:27.846Z,1736357367.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:27.856Z,1736357367.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:27.859Z,1736357367.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 112.844025 m,
      bearing: 273.791647 deg,
      approach rate: -0.708594 m/s,
      LOS rate: -0.004838 deg/s,
      cmd heading: 269.541422 deg,
      new cmd heading: 269.535992 deg.

2025-01-08T17:29:27.860Z,1736357367.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704290 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:28.010Z,1736357368.010 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:28.010Z,1736357368.010 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:28.010Z,1736357368.010 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:28.253Z,1736357368.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:28.263Z,1736357368.263 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:28.263Z,1736357368.263 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:28.264Z,1736357368.264 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:28.322Z,1736357368.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:28.329Z,1736357368.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 112.569260 m,
      bearing: 273.790016 deg,
      approach rate: -0.588918 m/s,
      LOS rate: -0.003504 deg/s,
      cmd heading: 269.535985 deg,
      new cmd heading: 269.531080 deg.

2025-01-08T17:29:28.330Z,1736357368.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704205 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:28.512Z,1736357368.512 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:28.512Z,1736357368.512 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:28.512Z,1736357368.512 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:28.673Z,1736357368.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:28.685Z,1736357368.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:28.706Z,1736357368.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 112.272736 m,
      bearing: 273.790030 deg,
      approach rate: -0.816592 m/s,
      LOS rate: 0.000040 deg/s,
      cmd heading: 269.531067 deg,
      new cmd heading: 269.531111 deg.

2025-01-08T17:29:28.708Z,1736357368.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704206 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:28.765Z,1736357368.765 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:28.766Z,1736357368.766 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:28.766Z,1736357368.766 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:29.016Z,1736357369.016 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:29.016Z,1736357369.016 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:29.016Z,1736357369.016 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:29.061Z,1736357369.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:29.076Z,1736357369.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:29.078Z,1736357369.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:29.085Z,1736357369.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 111.999886 m,
      bearing: 273.790324 deg,
      approach rate: -0.694798 m/s,
      LOS rate: 0.000751 deg/s,
      cmd heading: 269.531122 deg,
      new cmd heading: 269.532006 deg.

2025-01-08T17:29:29.086Z,1736357369.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704221 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:29.271Z,1736357369.271 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:29.271Z,1736357369.271 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:29.272Z,1736357369.272 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:29.486Z,1736357369.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:29.517Z,1736357369.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:29.520Z,1736357369.520 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:29.520Z,1736357369.520 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:29.520Z,1736357369.520 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:29.525Z,1736357369.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 111.698906 m,
      bearing: 273.792421 deg,
      approach rate: -0.685434 m/s,
      LOS rate: 0.004788 deg/s,
      cmd heading: 269.531996 deg,
      new cmd heading: 269.538304 deg.

2025-01-08T17:29:29.526Z,1736357369.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704331 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:29.772Z,1736357369.772 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:29.772Z,1736357369.772 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:29.772Z,1736357369.772 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:29.864Z,1736357369.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:29.872Z,1736357369.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:29.876Z,1736357369.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 111.432175 m,
      bearing: 273.794436 deg,
      approach rate: -0.750390 m/s,
      LOS rate: 0.005681 deg/s,
      cmd heading: 269.538307 deg,
      new cmd heading: 269.544366 deg.

2025-01-08T17:29:29.877Z,1736357369.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704437 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:30.025Z,1736357370.025 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:30.025Z,1736357370.025 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:30.026Z,1736357370.026 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:30.279Z,1736357370.279 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:30.280Z,1736357370.280 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:30.280Z,1736357370.280 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:30.305Z,1736357370.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:30.355Z,1736357370.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:30.370Z,1736357370.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 111.121376 m,
      bearing: 273.796816 deg,
      approach rate: -0.644300 m/s,
      LOS rate: 0.004947 deg/s,
      cmd heading: 269.544372 deg,
      new cmd heading: 269.551531 deg.

2025-01-08T17:29:30.371Z,1736357370.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704562 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:30.530Z,1736357370.530 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:30.530Z,1736357370.530 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:30.530Z,1736357370.530 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:30.714Z,1736357370.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:30.724Z,1736357370.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:30.727Z,1736357370.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 110.834793 m,
      bearing: 273.799904 deg,
      approach rate: -0.777166 m/s,
      LOS rate: 0.008398 deg/s,
      cmd heading: 269.551530 deg,
      new cmd heading: 269.560820 deg.

2025-01-08T17:29:30.728Z,1736357370.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704724 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:30.781Z,1736357370.781 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:30.781Z,1736357370.781 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:30.781Z,1736357370.781 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:31.032Z,1736357371.032 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:31.032Z,1736357371.032 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:31.032Z,1736357371.032 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:31.088Z,1736357371.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:31.096Z,1736357371.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:31.098Z,1736357371.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:31.113Z,1736357371.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 110.573471 m,
      bearing: 273.802845 deg,
      approach rate: -0.697920 m/s,
      LOS rate: 0.007871 deg/s,
      cmd heading: 269.560820 deg,
      new cmd heading: 269.569661 deg.

2025-01-08T17:29:31.117Z,1736357371.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704878 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:31.287Z,1736357371.287 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:31.288Z,1736357371.288 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:31.288Z,1736357371.288 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:31.522Z,1736357371.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:31.536Z,1736357371.536 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:31.536Z,1736357371.536 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:31.536Z,1736357371.536 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:31.549Z,1736357371.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:31.562Z,1736357371.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 110.274551 m,
      bearing: 273.807404 deg,
      approach rate: -0.665009 m/s,
      LOS rate: 0.010172 deg/s,
      cmd heading: 269.569671 deg,
      new cmd heading: 269.583388 deg.

2025-01-08T17:29:31.573Z,1736357371.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705118 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:31.789Z,1736357371.789 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:31.789Z,1736357371.789 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:31.789Z,1736357371.789 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:31.883Z,1736357371.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:31.893Z,1736357371.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:31.896Z,1736357371.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 110.025902 m,
      bearing: 273.811361 deg,
      approach rate: -0.719493 m/s,
      LOS rate: 0.011475 deg/s,
      cmd heading: 269.583386 deg,
      new cmd heading: 269.595284 deg.

2025-01-08T17:29:31.897Z,1736357371.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705325 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:32.042Z,1736357372.042 [DAT](INFO): Reached modem response timeout
2025-01-08T17:29:32.042Z,1736357372.042 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:29:32.043Z,1736357372.043 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:29:32.297Z,1736357372.297 [DAT](INFO): Reached modem response timeout
2025-01-08T17:29:32.297Z,1736357372.297 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:29:32.298Z,1736357372.298 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:29:32.453Z,1736357372.453 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:32.461Z,1736357372.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:32.464Z,1736357372.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 109.646858 m,
      bearing: 273.812829 deg,
      approach rate: -0.667020 m/s,
      LOS rate: 0.002592 deg/s,
      cmd heading: 269.595271 deg,
      new cmd heading: 269.599689 deg.

2025-01-08T17:29:32.465Z,1736357372.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705402 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:32.549Z,1736357372.549 [DAT](INFO): Reached modem response timeout
2025-01-08T17:29:32.549Z,1736357372.549 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:29:32.549Z,1736357372.549 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:29:32.768Z,1736357372.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:32.777Z,1736357372.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:32.800Z,1736357372.800 [DAT](INFO): Reached modem response timeout
2025-01-08T17:29:32.800Z,1736357372.800 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:29:32.800Z,1736357372.800 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:29:32.812Z,1736357372.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 109.437294 m,
      bearing: 273.813581 deg,
      approach rate: -0.663092 m/s,
      LOS rate: 0.002384 deg/s,
      cmd heading: 269.599697 deg,
      new cmd heading: 269.601957 deg.

2025-01-08T17:29:32.814Z,1736357372.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705442 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:33.052Z,1736357373.052 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:29:33.053Z,1736357373.053 [DAT](INFO): response not received
2025-01-08T17:29:33.053Z,1736357373.053 [DAT](INFO): DAT read: user:192>

2025-01-08T17:29:33.055Z,1736357373.055 [DAT](INFO): DAT read: Tx time:17:29:32.2364

2025-01-08T17:29:33.055Z,1736357373.055 [DAT](INFO): Ping request sent.
2025-01-08T17:29:33.055Z,1736357373.055 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:29:33.056Z,1736357373.056 [DAT](INFO): publishing transmit ping time
2025-01-08T17:29:33.057Z,1736357373.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001178
2025-01-08T17:29:33.168Z,1736357373.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:33.196Z,1736357373.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:33.198Z,1736357373.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:33.205Z,1736357373.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 109.171181 m,
      bearing: 273.814516 deg,
      approach rate: -0.632145 m/s,
      LOS rate: 0.002228 deg/s,
      cmd heading: 269.601965 deg,
      new cmd heading: 269.604778 deg.

2025-01-08T17:29:33.206Z,1736357373.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705491 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:33.307Z,1736357373.307 [DAT](INFO): DAT read: TxSync time:17:29:32.2356

2025-01-08T17:29:33.310Z,1736357373.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254215
2025-01-08T17:29:33.556Z,1736357373.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500838
2025-01-08T17:29:33.615Z,1736357373.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:33.633Z,1736357373.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:33.641Z,1736357373.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 108.898941 m,
      bearing: 273.814292 deg,
      approach rate: -0.626507 m/s,
      LOS rate: -0.000517 deg/s,
      cmd heading: 269.604779 deg,
      new cmd heading: 269.604105 deg.

2025-01-08T17:29:33.642Z,1736357373.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705479 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:33.808Z,1736357373.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753042
2025-01-08T17:29:33.980Z,1736357373.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:33.989Z,1736357373.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:33.994Z,1736357373.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 108.643532 m,
      bearing: 273.813994 deg,
      approach rate: -0.716934 m/s,
      LOS rate: -0.000840 deg/s,
      cmd heading: 269.604096 deg,
      new cmd heading: 269.603198 deg.

2025-01-08T17:29:33.996Z,1736357373.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705463 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:34.062Z,1736357374.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006659
2025-01-08T17:29:34.312Z,1736357374.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256889
2025-01-08T17:29:34.465Z,1736357374.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:34.497Z,1736357374.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:34.506Z,1736357374.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 108.329117 m,
      bearing: 273.814231 deg,
      approach rate: -0.619034 m/s,
      LOS rate: 0.000467 deg/s,
      cmd heading: 269.603194 deg,
      new cmd heading: 269.603906 deg.

2025-01-08T17:29:34.513Z,1736357374.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705476 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:34.564Z,1736357374.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508943
2025-01-08T17:29:34.816Z,1736357374.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760903
2025-01-08T17:29:34.865Z,1736357374.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:34.882Z,1736357374.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:34.889Z,1736357374.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 108.069923 m,
      bearing: 273.814029 deg,
      approach rate: -0.672740 m/s,
      LOS rate: -0.000525 deg/s,
      cmd heading: 269.603904 deg,
      new cmd heading: 269.603298 deg.

2025-01-08T17:29:34.899Z,1736357374.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705465 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:35.068Z,1736357375.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012856
2025-01-08T17:29:35.245Z,1736357375.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:35.252Z,1736357375.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:35.254Z,1736357375.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:35.257Z,1736357375.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 107.823647 m,
      bearing: 273.813640 deg,
      approach rate: -0.662951 m/s,
      LOS rate: -0.001049 deg/s,
      cmd heading: 269.603303 deg,
      new cmd heading: 269.602134 deg.

2025-01-08T17:29:35.259Z,1736357375.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705445 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:35.323Z,1736357375.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267333
2025-01-08T17:29:35.572Z,1736357375.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516808
2025-01-08T17:29:35.686Z,1736357375.686 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:35.720Z,1736357375.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:35.723Z,1736357375.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 107.532936 m,
      bearing: 273.807980 deg,
      approach rate: -0.623371 m/s,
      LOS rate: -0.012169 deg/s,
      cmd heading: 269.602129 deg,
      new cmd heading: 269.585104 deg.

2025-01-08T17:29:35.728Z,1736357375.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705148 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:35.825Z,1736357375.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769739
2025-01-08T17:29:36.050Z,1736357376.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:36.075Z,1736357376.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:36.076Z,1736357376.076 [DAT](INFO): DAT read: Rx Time:17:29:34.7847

2025-01-08T17:29:36.077Z,1736357376.077 [DAT](INFO): Rx dataTimestamp_ set to:1736357376.076675
2025-01-08T17:29:36.077Z,1736357376.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022072
2025-01-08T17:29:36.081Z,1736357376.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 107.293930 m,
      bearing: 273.803222 deg,
      approach rate: -0.673691 m/s,
      LOS rate: -0.013443 deg/s,
      cmd heading: 269.585108 deg,
      new cmd heading: 269.570800 deg.

2025-01-08T17:29:36.082Z,1736357376.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704898 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:36.330Z,1736357376.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274555
2025-01-08T17:29:36.560Z,1736357376.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:36.568Z,1736357376.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:36.571Z,1736357376.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 106.945717 m,
      bearing: 273.796343 deg,
      approach rate: -0.706170 m/s,
      LOS rate: -0.013996 deg/s,
      cmd heading: 269.570792 deg,
      new cmd heading: 269.550087 deg.

2025-01-08T17:29:36.572Z,1736357376.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704536 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:36.586Z,1736357376.586 [DAT](INFO): DAT read: 17:29:34.7847 LVL= 32752, 32753, 28914, 32755, AGC= 67, IDX= 336,-0.05,-0.112,-1.500,-0.157,-0.548, PHS= 0.525,-0.904, 0.388, RAW= 145.0,  -0.1, CAL= 148.9,  -9.1, ROT=   1.1,   9.1

2025-01-08T17:29:36.588Z,1736357376.588 [DAT](INFO): got valid direction response:
 17:29:34.7847 LVL= 32752, 32753, 28914, 32755, AGC= 67, IDX= 336,-0.05,-0.112,-1.500,-0.157,-0.548, PHS= 0.525,-0.904, 0.388, RAW= 145.0,  -0.1, CAL= 148.9,  -9.1, ROT=   1.1,   9.1

2025-01-08T17:29:36.588Z,1736357376.588 [DAT](INFO): DAT read: $Error in header

2025-01-08T17:29:36.589Z,1736357376.589 [DAT](INFO): Received a bad header
2025-01-08T17:29:36.601Z,1736357376.601 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-08T17:29:36.602Z,1736357376.602 [DAT](INFO): direction in FSK: [0.987232,0.018956,-0.158158]
2025-01-08T17:29:36.605Z,1736357376.605 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:36.605Z,1736357376.605 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:36.605Z,1736357376.605 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:36.832Z,1736357376.832 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:36.832Z,1736357376.832 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:36.832Z,1736357376.832 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:36.898Z,1736357376.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:36.932Z,1736357376.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:36.934Z,1736357376.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 106.714165 m,
      bearing: 273.791761 deg,
      approach rate: -0.651240 m/s,
      LOS rate: -0.012914 deg/s,
      cmd heading: 269.550082 deg,
      new cmd heading: 269.536307 deg.

2025-01-08T17:29:36.944Z,1736357376.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704296 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:37.088Z,1736357377.088 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:37.088Z,1736357377.088 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:37.088Z,1736357377.088 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:37.263Z,1736357377.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:37.270Z,1736357377.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:37.272Z,1736357377.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:37.276Z,1736357377.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 106.464951 m,
      bearing: 273.786775 deg,
      approach rate: -0.715109 m/s,
      LOS rate: -0.014340 deg/s,
      cmd heading: 269.536313 deg,
      new cmd heading: 269.521320 deg.

2025-01-08T17:29:37.277Z,1736357377.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704034 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:37.337Z,1736357377.337 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:37.337Z,1736357377.337 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:37.337Z,1736357377.337 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:37.588Z,1736357377.588 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:37.588Z,1736357377.588 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:37.588Z,1736357377.588 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:37.720Z,1736357377.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:37.730Z,1736357377.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:37.733Z,1736357377.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 106.143677 m,
      bearing: 273.780508 deg,
      approach rate: -0.701758 m/s,
      LOS rate: -0.013732 deg/s,
      cmd heading: 269.521314 deg,
      new cmd heading: 269.502454 deg.

2025-01-08T17:29:37.734Z,1736357377.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703705 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:37.841Z,1736357377.841 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:37.841Z,1736357377.841 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:37.841Z,1736357377.841 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:38.076Z,1736357378.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:38.085Z,1736357378.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:38.092Z,1736357378.092 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:38.092Z,1736357378.092 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:38.092Z,1736357378.092 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:38.108Z,1736357378.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 105.893730 m,
      bearing: 273.775766 deg,
      approach rate: -0.703643 m/s,
      LOS rate: -0.013380 deg/s,
      cmd heading: 269.502462 deg,
      new cmd heading: 269.488204 deg.

2025-01-08T17:29:38.109Z,1736357378.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703456 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:38.144Z,1736357378.144 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:29:38.344Z,1736357378.344 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:38.344Z,1736357378.344 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:38.344Z,1736357378.344 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:38.526Z,1736357378.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:38.540Z,1736357378.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:38.545Z,1736357378.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 105.562828 m,
      bearing: 273.769694 deg,
      approach rate: -0.727414 m/s,
      LOS rate: -0.013390 deg/s,
      cmd heading: 269.488201 deg,
      new cmd heading: 269.469927 deg.

2025-01-08T17:29:38.546Z,1736357378.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703137 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:38.597Z,1736357378.597 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:38.597Z,1736357378.597 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:38.597Z,1736357378.597 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:38.848Z,1736357378.848 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:38.848Z,1736357378.848 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:38.848Z,1736357378.848 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:38.894Z,1736357378.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:38.910Z,1736357378.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:38.917Z,1736357378.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 105.291359 m,
      bearing: 273.764901 deg,
      approach rate: -0.733086 m/s,
      LOS rate: -0.012976 deg/s,
      cmd heading: 269.469923 deg,
      new cmd heading: 269.455508 deg.

2025-01-08T17:29:38.918Z,1736357378.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702886 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:39.100Z,1736357379.100 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:39.100Z,1736357379.100 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:39.100Z,1736357379.100 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:39.148Z,1736357379.148 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:29:39.282Z,1736357379.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:39.289Z,1736357379.289 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:39.293Z,1736357379.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:39.296Z,1736357379.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 105.005699 m,
      bearing: 273.760050 deg,
      approach rate: -0.746911 m/s,
      LOS rate: -0.012718 deg/s,
      cmd heading: 269.455498 deg,
      new cmd heading: 269.440906 deg.

2025-01-08T17:29:39.297Z,1736357379.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702631 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:39.353Z,1736357379.353 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:39.353Z,1736357379.353 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:39.353Z,1736357379.353 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:39.604Z,1736357379.604 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:39.604Z,1736357379.604 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:39.604Z,1736357379.604 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:39.722Z,1736357379.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:39.731Z,1736357379.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:39.750Z,1736357379.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 104.679268 m,
      bearing: 273.759831 deg,
      approach rate: -0.745217 m/s,
      LOS rate: -0.000501 deg/s,
      cmd heading: 269.440909 deg,
      new cmd heading: 269.440250 deg.

2025-01-08T17:29:39.751Z,1736357379.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702620 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:39.857Z,1736357379.857 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:39.858Z,1736357379.858 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:39.858Z,1736357379.858 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:40.091Z,1736357380.091 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:40.100Z,1736357380.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:40.102Z,1736357380.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 104.404945 m,
      bearing: 273.759867 deg,
      approach rate: -0.743932 m/s,
      LOS rate: 0.000098 deg/s,
      cmd heading: 269.440253 deg,
      new cmd heading: 269.440361 deg.

2025-01-08T17:29:40.104Z,1736357380.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702621 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:40.109Z,1736357380.109 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:40.109Z,1736357380.109 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:40.109Z,1736357380.109 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:40.361Z,1736357380.361 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:40.361Z,1736357380.361 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:40.361Z,1736357380.361 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:40.565Z,1736357380.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:40.585Z,1736357380.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:40.592Z,1736357380.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 104.058708 m,
      bearing: 273.762228 deg,
      approach rate: -0.713687 m/s,
      LOS rate: 0.004883 deg/s,
      cmd heading: 269.440362 deg,
      new cmd heading: 269.447469 deg.

2025-01-08T17:29:40.593Z,1736357380.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702745 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:40.614Z,1736357380.614 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:40.614Z,1736357380.614 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:40.614Z,1736357380.614 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:40.864Z,1736357380.864 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:40.864Z,1736357380.864 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:40.864Z,1736357380.864 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:40.915Z,1736357380.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:40.936Z,1736357380.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:40.943Z,1736357380.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 103.803604 m,
      bearing: 273.764085 deg,
      approach rate: -0.735721 m/s,
      LOS rate: 0.005368 deg/s,
      cmd heading: 269.447466 deg,
      new cmd heading: 269.453049 deg.

2025-01-08T17:29:40.944Z,1736357380.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702843 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:41.116Z,1736357381.116 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:41.116Z,1736357381.116 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:41.116Z,1736357381.116 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:41.325Z,1736357381.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:41.332Z,1736357381.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:41.334Z,1736357381.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:41.337Z,1736357381.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 103.503693 m,
      bearing: 273.766279 deg,
      approach rate: -0.744533 m/s,
      LOS rate: 0.005463 deg/s,
      cmd heading: 269.453039 deg,
      new cmd heading: 269.459641 deg.

2025-01-08T17:29:41.338Z,1736357381.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702958 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:41.368Z,1736357381.368 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:41.369Z,1736357381.369 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:41.369Z,1736357381.369 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:41.622Z,1736357381.622 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:41.623Z,1736357381.623 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:41.623Z,1736357381.623 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:41.746Z,1736357381.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:41.754Z,1736357381.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:41.774Z,1736357381.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 103.199608 m,
      bearing: 273.770913 deg,
      approach rate: -0.723496 m/s,
      LOS rate: 0.011056 deg/s,
      cmd heading: 269.459651 deg,
      new cmd heading: 269.473592 deg.

2025-01-08T17:29:41.779Z,1736357381.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703201 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:41.873Z,1736357381.873 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:41.873Z,1736357381.873 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:41.873Z,1736357381.873 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:42.110Z,1736357382.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:42.119Z,1736357382.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:42.122Z,1736357382.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 102.936157 m,
      bearing: 273.775307 deg,
      approach rate: -0.722574 m/s,
      LOS rate: 0.012085 deg/s,
      cmd heading: 269.473584 deg,
      new cmd heading: 269.486802 deg.

2025-01-08T17:29:42.124Z,1736357382.124 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:42.125Z,1736357382.125 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:42.125Z,1736357382.125 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:42.125Z,1736357382.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703432 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:42.376Z,1736357382.376 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:42.376Z,1736357382.376 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:42.376Z,1736357382.376 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:42.583Z,1736357382.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:42.612Z,1736357382.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:42.621Z,1736357382.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 102.619057 m,
      bearing: 273.784128 deg,
      approach rate: -0.647649 m/s,
      LOS rate: 0.018072 deg/s,
      cmd heading: 269.486808 deg,
      new cmd heading: 269.513353 deg.

2025-01-08T17:29:42.622Z,1736357382.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703896 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:42.628Z,1736357382.628 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:42.628Z,1736357382.628 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:42.628Z,1736357382.628 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:42.881Z,1736357382.881 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:42.882Z,1736357382.882 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:42.882Z,1736357382.882 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:42.970Z,1736357382.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:42.986Z,1736357382.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:42.993Z,1736357382.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 102.359322 m,
      bearing: 273.791452 deg,
      approach rate: -0.687845 m/s,
      LOS rate: 0.019444 deg/s,
      cmd heading: 269.513363 deg,
      new cmd heading: 269.535390 deg.

2025-01-08T17:29:42.994Z,1736357382.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704280 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:43.132Z,1736357383.132 [DAT](INFO): Reached modem response timeout
2025-01-08T17:29:43.132Z,1736357383.132 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:29:43.132Z,1736357383.132 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:29:43.356Z,1736357383.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:43.364Z,1736357383.364 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:43.366Z,1736357383.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:43.369Z,1736357383.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 102.100418 m,
      bearing: 273.798825 deg,
      approach rate: -0.681768 m/s,
      LOS rate: 0.019463 deg/s,
      cmd heading: 269.535384 deg,
      new cmd heading: 269.557558 deg.

2025-01-08T17:29:43.370Z,1736357383.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704667 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:43.384Z,1736357383.384 [DAT](INFO): Reached modem response timeout
2025-01-08T17:29:43.385Z,1736357383.385 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:29:43.385Z,1736357383.385 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:29:43.637Z,1736357383.637 [DAT](INFO): Reached modem response timeout
2025-01-08T17:29:43.637Z,1736357383.637 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:29:43.637Z,1736357383.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:29:43.779Z,1736357383.779 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:43.804Z,1736357383.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:43.807Z,1736357383.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 101.834152 m,
      bearing: 273.808676 deg,
      approach rate: -0.631760 m/s,
      LOS rate: 0.023435 deg/s,
      cmd heading: 269.557568 deg,
      new cmd heading: 269.587199 deg.

2025-01-08T17:29:43.812Z,1736357383.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705184 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:43.892Z,1736357383.892 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:29:43.892Z,1736357383.892 [DAT](INFO): response not received
2025-01-08T17:29:43.893Z,1736357383.893 [DAT](INFO): DAT read: user:194>

2025-01-08T17:29:43.893Z,1736357383.893 [DAT](INFO): DAT read: Tx time:17:29:43.1866

2025-01-08T17:29:43.894Z,1736357383.894 [DAT](INFO): Ping request sent.
2025-01-08T17:29:43.894Z,1736357383.894 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:29:43.894Z,1736357383.894 [DAT](INFO): publishing transmit ping time
2025-01-08T17:29:43.894Z,1736357383.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-01-08T17:29:44.144Z,1736357384.144 [DAT](INFO): DAT read: TxSync time:17:29:43.1858

2025-01-08T17:29:44.145Z,1736357384.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251576
2025-01-08T17:29:44.154Z,1736357384.154 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:44.164Z,1736357384.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:44.183Z,1736357384.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 101.597565 m,
      bearing: 273.817409 deg,
      approach rate: -0.627691 m/s,
      LOS rate: 0.023225 deg/s,
      cmd heading: 269.587211 deg,
      new cmd heading: 269.613473 deg.

2025-01-08T17:29:44.184Z,1736357384.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705643 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:44.396Z,1736357384.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502633
2025-01-08T17:29:44.628Z,1736357384.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:44.640Z,1736357384.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:44.644Z,1736357384.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 101.308784 m,
      bearing: 273.827040 deg,
      approach rate: -0.607131 m/s,
      LOS rate: 0.020305 deg/s,
      cmd heading: 269.613467 deg,
      new cmd heading: 269.642440 deg.

2025-01-08T17:29:44.645Z,1736357384.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706148 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:44.648Z,1736357384.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754706
2025-01-08T17:29:44.900Z,1736357384.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006622
2025-01-08T17:29:44.961Z,1736357384.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:44.969Z,1736357384.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:44.972Z,1736357384.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 101.105942 m,
      bearing: 273.833904 deg,
      approach rate: -0.616408 m/s,
      LOS rate: 0.020900 deg/s,
      cmd heading: 269.642427 deg,
      new cmd heading: 269.663060 deg.

2025-01-08T17:29:44.974Z,1736357384.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706508 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:45.152Z,1736357385.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258736
2025-01-08T17:29:45.387Z,1736357385.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:45.394Z,1736357385.394 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:45.397Z,1736357385.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:45.400Z,1736357385.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 100.853333 m,
      bearing: 273.842455 deg,
      approach rate: -0.590399 m/s,
      LOS rate: 0.020036 deg/s,
      cmd heading: 269.663054 deg,
      new cmd heading: 269.688771 deg.

2025-01-08T17:29:45.401Z,1736357385.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706957 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:45.405Z,1736357385.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510976
2025-01-08T17:29:45.656Z,1736357385.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762700
2025-01-08T17:29:45.793Z,1736357385.793 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:45.835Z,1736357385.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:45.842Z,1736357385.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 100.601540 m,
      bearing: 273.848791 deg,
      approach rate: -0.580078 m/s,
      LOS rate: 0.014634 deg/s,
      cmd heading: 269.688763 deg,
      new cmd heading: 269.707819 deg.

2025-01-08T17:29:45.843Z,1736357385.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707290 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:45.909Z,1736357385.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015502
2025-01-08T17:29:46.162Z,1736357386.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267910
2025-01-08T17:29:46.213Z,1736357386.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:46.222Z,1736357386.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:46.226Z,1736357386.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 100.348022 m,
      bearing: 273.854619 deg,
      approach rate: -0.648350 m/s,
      LOS rate: 0.014943 deg/s,
      cmd heading: 269.707833 deg,
      new cmd heading: 269.725362 deg.

2025-01-08T17:29:46.227Z,1736357386.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707596 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:46.412Z,1736357386.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518649
2025-01-08T17:29:46.652Z,1736357386.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:46.660Z,1736357386.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:46.664Z,1736357386.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770699
2025-01-08T17:29:46.665Z,1736357386.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 100.084137 m,
      bearing: 273.860211 deg,
      approach rate: -0.601905 m/s,
      LOS rate: 0.012788 deg/s,
      cmd heading: 269.725372 deg,
      new cmd heading: 269.742192 deg.

2025-01-08T17:29:46.666Z,1736357386.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707890 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:46.917Z,1736357386.917 [DAT](INFO): DAT read: Rx Time:17:29:45.7250

2025-01-08T17:29:46.917Z,1736357386.917 [DAT](INFO): Rx dataTimestamp_ set to:1736357386.916731
2025-01-08T17:29:46.918Z,1736357386.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023902
2025-01-08T17:29:47.014Z,1736357387.014 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:47.022Z,1736357387.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:47.026Z,1736357387.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 99.866684 m,
      bearing: 273.864553 deg,
      approach rate: -0.600870 m/s,
      LOS rate: 0.012024 deg/s,
      cmd heading: 269.742202 deg,
      new cmd heading: 269.755257 deg.

2025-01-08T17:29:47.028Z,1736357387.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708117 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:47.168Z,1736357387.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274589
2025-01-08T17:29:47.388Z,1736357387.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:47.396Z,1736357387.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:47.398Z,1736357387.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:47.401Z,1736357387.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 99.641846 m,
      bearing: 273.869003 deg,
      approach rate: -0.599198 m/s,
      LOS rate: 0.011885 deg/s,
      cmd heading: 269.755261 deg,
      new cmd heading: 269.768641 deg.

2025-01-08T17:29:47.402Z,1736357387.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708351 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:47.441Z,1736357387.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528871
2025-01-08T17:29:47.678Z,1736357387.678 [DAT](INFO): DAT read: 17:29:45.7250 LVL= 25744, 23025, 20322, 32755, AGC= 67, IDX= 346, 0.31,-1.076,-2.675,-1.145,-1.570, PHS= 0.583,-1.058, 0.423, RAW= 144.9,   0.7, CAL= 148.6,  -8.2, ROT=   1.4,   8.2

2025-01-08T17:29:47.680Z,1736357387.680 [DAT](INFO): got valid direction response:
 17:29:45.7250 LVL= 25744, 23025, 20322, 32755, AGC= 67, IDX= 346, 0.31,-1.076,-2.675,-1.145,-1.570, PHS= 0.583,-1.058, 0.423, RAW= 144.9,   0.7, CAL= 148.6,  -8.2, ROT=   1.4,   8.2

2025-01-08T17:29:47.681Z,1736357387.681 [DAT](INFO): DAT read: $Error in header

2025-01-08T17:29:47.682Z,1736357387.682 [DAT](INFO): Received a bad header
2025-01-08T17:29:47.695Z,1736357387.695 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-08T17:29:47.697Z,1736357387.697 [DAT](INFO): direction in FSK: [0.989481,0.024182,-0.142629]
2025-01-08T17:29:47.738Z,1736357387.738 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:47.738Z,1736357387.738 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:47.739Z,1736357387.739 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:47.858Z,1736357387.858 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:47.880Z,1736357387.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:47.883Z,1736357387.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 99.347702 m,
      bearing: 273.874450 deg,
      approach rate: -0.610125 m/s,
      LOS rate: 0.011332 deg/s,
      cmd heading: 269.768649 deg,
      new cmd heading: 269.785038 deg.

2025-01-08T17:29:47.888Z,1736357387.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708637 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:47.925Z,1736357387.925 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:47.925Z,1736357387.925 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:47.925Z,1736357387.925 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:48.176Z,1736357388.176 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:48.176Z,1736357388.176 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:48.176Z,1736357388.176 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:48.200Z,1736357388.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:48.210Z,1736357388.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:48.237Z,1736357388.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 99.133018 m,
      bearing: 273.878416 deg,
      approach rate: -0.650907 m/s,
      LOS rate: 0.012052 deg/s,
      cmd heading: 269.785041 deg,
      new cmd heading: 269.796966 deg.

2025-01-08T17:29:48.238Z,1736357388.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708845 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:48.428Z,1736357388.428 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:48.428Z,1736357388.428 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:48.428Z,1736357388.428 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:48.673Z,1736357388.673 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:48.682Z,1736357388.682 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:48.682Z,1736357388.682 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:48.682Z,1736357388.682 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:48.707Z,1736357388.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:48.719Z,1736357388.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 98.824211 m,
      bearing: 273.882491 deg,
      approach rate: -0.621562 m/s,
      LOS rate: 0.008226 deg/s,
      cmd heading: 269.796953 deg,
      new cmd heading: 269.809214 deg.

2025-01-08T17:29:48.721Z,1736357388.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709059 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:48.932Z,1736357388.932 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:48.932Z,1736357388.932 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:48.932Z,1736357388.932 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:49.034Z,1736357389.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:49.045Z,1736357389.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:49.049Z,1736357389.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 98.587860 m,
      bearing: 273.885562 deg,
      approach rate: -0.697711 m/s,
      LOS rate: 0.009087 deg/s,
      cmd heading: 269.809220 deg,
      new cmd heading: 269.818455 deg.

2025-01-08T17:29:49.050Z,1736357389.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709220 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:49.184Z,1736357389.184 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:49.185Z,1736357389.185 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:49.185Z,1736357389.185 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:49.436Z,1736357389.436 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:49.436Z,1736357389.436 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:49.436Z,1736357389.436 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:49.438Z,1736357389.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:49.469Z,1736357389.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:49.479Z,1736357389.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:49.482Z,1736357389.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 98.324112 m,
      bearing: 273.888916 deg,
      approach rate: -0.618911 m/s,
      LOS rate: 0.007892 deg/s,
      cmd heading: 269.818454 deg,
      new cmd heading: 269.828543 deg.

2025-01-08T17:29:49.494Z,1736357389.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709396 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:49.689Z,1736357389.689 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:49.689Z,1736357389.689 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:49.689Z,1736357389.689 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:49.882Z,1736357389.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:49.891Z,1736357389.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:49.894Z,1736357389.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 98.024055 m,
      bearing: 273.892410 deg,
      approach rate: -0.714806 m/s,
      LOS rate: 0.008350 deg/s,
      cmd heading: 269.828536 deg,
      new cmd heading: 269.839051 deg.

2025-01-08T17:29:49.895Z,1736357389.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709580 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:49.941Z,1736357389.941 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:49.941Z,1736357389.941 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:49.941Z,1736357389.941 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:50.192Z,1736357390.192 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:50.192Z,1736357390.192 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:50.192Z,1736357390.192 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:50.276Z,1736357390.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:50.285Z,1736357390.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:50.287Z,1736357390.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 97.757599 m,
      bearing: 273.895554 deg,
      approach rate: -0.676951 m/s,
      LOS rate: 0.008009 deg/s,
      cmd heading: 269.839054 deg,
      new cmd heading: 269.848512 deg.

2025-01-08T17:29:50.289Z,1736357390.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709745 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:50.444Z,1736357390.444 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:50.444Z,1736357390.444 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:50.444Z,1736357390.444 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:50.696Z,1736357390.696 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:50.697Z,1736357390.697 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:50.697Z,1736357390.697 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:50.725Z,1736357390.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:50.756Z,1736357390.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:50.758Z,1736357390.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 97.441635 m,
      bearing: 273.900983 deg,
      approach rate: -0.701278 m/s,
      LOS rate: 0.012089 deg/s,
      cmd heading: 269.848507 deg,
      new cmd heading: 269.864848 deg.

2025-01-08T17:29:50.764Z,1736357390.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710030 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:50.948Z,1736357390.948 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:50.948Z,1736357390.948 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:50.948Z,1736357390.948 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:51.080Z,1736357391.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:51.090Z,1736357391.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:51.093Z,1736357391.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 97.191902 m,
      bearing: 273.905358 deg,
      approach rate: -0.705022 m/s,
      LOS rate: 0.012382 deg/s,
      cmd heading: 269.864845 deg,
      new cmd heading: 269.878003 deg.

2025-01-08T17:29:51.094Z,1736357391.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710260 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:51.200Z,1736357391.200 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:51.200Z,1736357391.200 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:51.200Z,1736357391.200 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:51.453Z,1736357391.453 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:51.454Z,1736357391.454 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:51.454Z,1736357391.454 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:51.521Z,1736357391.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:51.528Z,1736357391.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:51.530Z,1736357391.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:51.533Z,1736357391.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 96.882332 m,
      bearing: 273.910847 deg,
      approach rate: -0.701905 m/s,
      LOS rate: 0.012484 deg/s,
      cmd heading: 269.878014 deg,
      new cmd heading: 269.894532 deg.

2025-01-08T17:29:51.534Z,1736357391.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710548 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:51.705Z,1736357391.705 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:51.705Z,1736357391.705 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:51.705Z,1736357391.705 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:51.917Z,1736357391.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:51.926Z,1736357391.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:51.929Z,1736357391.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 96.594437 m,
      bearing: 273.916847 deg,
      approach rate: -0.727717 m/s,
      LOS rate: 0.015212 deg/s,
      cmd heading: 269.894543 deg,
      new cmd heading: 269.912596 deg.

2025-01-08T17:29:51.930Z,1736357391.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710864 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:51.956Z,1736357391.956 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:51.957Z,1736357391.957 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:51.957Z,1736357391.957 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:52.208Z,1736357392.208 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:52.208Z,1736357392.208 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:52.208Z,1736357392.208 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:52.289Z,1736357392.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:52.298Z,1736357392.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:52.302Z,1736357392.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 96.324341 m,
      bearing: 273.922496 deg,
      approach rate: -0.725621 m/s,
      LOS rate: 0.015220 deg/s,
      cmd heading: 269.912602 deg,
      new cmd heading: 269.929597 deg.

2025-01-08T17:29:52.303Z,1736357392.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711160 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:52.460Z,1736357392.460 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:52.460Z,1736357392.460 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:52.460Z,1736357392.460 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:52.713Z,1736357392.713 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:52.713Z,1736357392.713 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:52.713Z,1736357392.713 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:52.738Z,1736357392.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:52.750Z,1736357392.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:52.754Z,1736357392.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 95.994156 m,
      bearing: 273.930081 deg,
      approach rate: -0.730247 m/s,
      LOS rate: 0.016832 deg/s,
      cmd heading: 269.929595 deg,
      new cmd heading: 269.952428 deg.

2025-01-08T17:29:52.755Z,1736357392.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711559 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:52.967Z,1736357392.967 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:52.967Z,1736357392.967 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:52.967Z,1736357392.967 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:53.113Z,1736357393.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:53.121Z,1736357393.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:53.125Z,1736357393.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 95.718445 m,
      bearing: 273.936586 deg,
      approach rate: -0.743660 m/s,
      LOS rate: 0.017597 deg/s,
      cmd heading: 269.952435 deg,
      new cmd heading: 269.972008 deg.

2025-01-08T17:29:53.126Z,1736357393.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711900 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:53.217Z,1736357393.217 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:53.217Z,1736357393.217 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:53.217Z,1736357393.217 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:53.468Z,1736357393.468 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:53.468Z,1736357393.468 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:53.468Z,1736357393.468 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:53.529Z,1736357393.529 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:53.545Z,1736357393.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:53.547Z,1736357393.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:53.554Z,1736357393.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 95.411766 m,
      bearing: 273.943945 deg,
      approach rate: -0.720841 m/s,
      LOS rate: 0.017353 deg/s,
      cmd heading: 269.971997 deg,
      new cmd heading: 269.994145 deg.

2025-01-08T17:29:53.555Z,1736357393.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712287 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:53.721Z,1736357393.721 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:29:53.721Z,1736357393.721 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:29:53.721Z,1736357393.721 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:29:53.924Z,1736357393.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:53.932Z,1736357393.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:53.935Z,1736357393.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 95.122101 m,
      bearing: 273.950940 deg,
      approach rate: -0.750983 m/s,
      LOS rate: 0.018188 deg/s,
      cmd heading: 269.994154 deg,
      new cmd heading: 270.015201 deg.

2025-01-08T17:29:53.957Z,1736357393.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712654 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:53.972Z,1736357393.972 [DAT](INFO): Reached modem response timeout
2025-01-08T17:29:53.972Z,1736357393.972 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:29:53.973Z,1736357393.973 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:29:54.224Z,1736357394.224 [DAT](INFO): Reached modem response timeout
2025-01-08T17:29:54.225Z,1736357394.225 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:29:54.225Z,1736357394.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:29:54.318Z,1736357394.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:54.328Z,1736357394.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:54.331Z,1736357394.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 94.831497 m,
      bearing: 273.958044 deg,
      approach rate: -0.734107 m/s,
      LOS rate: 0.018002 deg/s,
      cmd heading: 270.015191 deg,
      new cmd heading: 270.036570 deg.

2025-01-08T17:29:54.332Z,1736357394.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713027 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:54.476Z,1736357394.476 [DAT](INFO): Reached modem response timeout
2025-01-08T17:29:54.476Z,1736357394.476 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:29:54.476Z,1736357394.476 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:29:54.730Z,1736357394.730 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:29:54.731Z,1736357394.731 [DAT](INFO): response not received
2025-01-08T17:29:54.732Z,1736357394.732 [DAT](INFO): DAT read: user:196>

2025-01-08T17:29:54.733Z,1736357394.733 [DAT](ERROR): No response from remote modem.
2025-01-08T17:29:54.733Z,1736357394.733 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:29:54.734Z,1736357394.734 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:29:54.850Z,1736357394.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-08T17:29:54.851Z,1736357394.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:54.881Z,1736357394.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:54.892Z,1736357394.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 94.442955 m,
      bearing: 273.967875 deg,
      approach rate: -0.703044 m/s,
      LOS rate: 0.017861 deg/s,
      cmd heading: 270.036583 deg,
      new cmd heading: 270.066196 deg.

2025-01-08T17:29:54.893Z,1736357394.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713544 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:54.981Z,1736357394.981 [DAT](INFO): DAT read: Tx time:17:29:54.1382

2025-01-08T17:29:54.982Z,1736357394.982 [DAT](INFO): Ping request sent.
2025-01-08T17:29:54.982Z,1736357394.982 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:29:54.983Z,1736357394.983 [DAT](INFO): DAT read: TxSync time:17:29:54.1375

2025-01-08T17:29:54.983Z,1736357394.983 [DAT](INFO): publishing transmit ping time
2025-01-08T17:29:54.984Z,1736357394.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001701
2025-01-08T17:29:55.200Z,1736357395.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-08T17:29:55.200Z,1736357395.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:55.209Z,1736357395.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:55.212Z,1736357395.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 94.183418 m,
      bearing: 273.974487 deg,
      approach rate: -0.790138 m/s,
      LOS rate: 0.020184 deg/s,
      cmd heading: 270.066199 deg,
      new cmd heading: 270.086089 deg.

2025-01-08T17:29:55.213Z,1736357395.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713892 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:55.232Z,1736357395.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250391
2025-01-08T17:29:55.485Z,1736357395.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502757
2025-01-08T17:29:55.583Z,1736357395.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s.
2025-01-08T17:29:55.583Z,1736357395.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:55.591Z,1736357395.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:55.613Z,1736357395.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:55.622Z,1736357395.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 93.901253 m,
      bearing: 273.981973 deg,
      approach rate: -0.698862 m/s,
      LOS rate: 0.018599 deg/s,
      cmd heading: 270.086088 deg,
      new cmd heading: 270.108617 deg.

2025-01-08T17:29:55.630Z,1736357395.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714285 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:55.736Z,1736357395.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754389
2025-01-08T17:29:55.989Z,1736357395.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006691
2025-01-08T17:29:56.048Z,1736357396.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:56.077Z,1736357396.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:56.087Z,1736357396.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 93.562889 m,
      bearing: 273.992857 deg,
      approach rate: -0.729844 m/s,
      LOS rate: 0.023560 deg/s,
      cmd heading: 270.108628 deg,
      new cmd heading: 270.141396 deg.

2025-01-08T17:29:56.092Z,1736357396.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714857 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:56.241Z,1736357396.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259144
2025-01-08T17:29:56.398Z,1736357396.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:56.408Z,1736357396.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:56.411Z,1736357396.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 93.308578 m,
      bearing: 274.001682 deg,
      approach rate: -0.767686 m/s,
      LOS rate: 0.026712 deg/s,
      cmd heading: 270.141386 deg,
      new cmd heading: 270.167932 deg.

2025-01-08T17:29:56.412Z,1736357396.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715320 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:56.493Z,1736357396.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510774
2025-01-08T17:29:56.744Z,1736357396.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762332
2025-01-08T17:29:56.850Z,1736357396.850 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:56.859Z,1736357396.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:56.862Z,1736357396.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 92.988029 m,
      bearing: 274.010796 deg,
      approach rate: -0.710996 m/s,
      LOS rate: 0.020286 deg/s,
      cmd heading: 270.167941 deg,
      new cmd heading: 270.195379 deg.

2025-01-08T17:29:56.863Z,1736357396.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715799 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:56.996Z,1736357396.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014471
2025-01-08T17:29:57.209Z,1736357397.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:57.224Z,1736357397.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:57.227Z,1736357397.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 92.733917 m,
      bearing: 274.017520 deg,
      approach rate: -0.698381 m/s,
      LOS rate: 0.018530 deg/s,
      cmd heading: 270.195371 deg,
      new cmd heading: 270.215598 deg.

2025-01-08T17:29:57.244Z,1736357397.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716152 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:57.248Z,1736357397.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266450
2025-01-08T17:29:57.501Z,1736357397.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518590
2025-01-08T17:29:57.632Z,1736357397.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:57.638Z,1736357397.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:29:57.642Z,1736357397.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:57.646Z,1736357397.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 92.434456 m,
      bearing: 274.025299 deg,
      approach rate: -0.714645 m/s,
      LOS rate: 0.018624 deg/s,
      cmd heading: 270.215589 deg,
      new cmd heading: 270.239001 deg.

2025-01-08T17:29:57.650Z,1736357397.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716560 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:57.752Z,1736357397.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770499
2025-01-08T17:29:58.008Z,1736357398.008 [DAT](INFO): DAT read: Rx Time:17:29:56.6658

2025-01-08T17:29:58.008Z,1736357398.008 [DAT](INFO): Rx dataTimestamp_ set to:1736357398.008206
2025-01-08T17:29:58.009Z,1736357398.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027111
2025-01-08T17:29:58.054Z,1736357398.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:58.085Z,1736357398.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:58.092Z,1736357398.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 92.148132 m,
      bearing: 274.031820 deg,
      approach rate: -0.646056 m/s,
      LOS rate: 0.014760 deg/s,
      cmd heading: 270.239003 deg,
      new cmd heading: 270.258627 deg.

2025-01-08T17:29:58.093Z,1736357398.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716903 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:58.257Z,1736357398.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274402
2025-01-08T17:29:58.432Z,1736357398.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:58.441Z,1736357398.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.40 m.
2025-01-08T17:29:58.444Z,1736357398.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.400002 m,
      nav range: 91.891174 m,
      bearing: 274.037224 deg,
      approach rate: -0.721010 m/s,
      LOS rate: 0.015205 deg/s,
      cmd heading: 270.258619 deg,
      new cmd heading: 270.274876 deg.

2025-01-08T17:29:58.445Z,1736357398.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717186 target range: 117.400002 and range: 117.40 m.
2025-01-08T17:29:58.515Z,1736357398.515 [DAT](INFO): DAT read: 17:29:56.6658 LVL= 21232, 28785, 17890, 30243, AGC= 65, IDX= 332,-0.02,-1.653,-3.077,-1.687,-2.080, PHS= 0.515,-0.951, 0.389, RAW= 145.6,   0.7, CAL= 149.2,  -8.3, ROT=   0.8,   8.3

2025-01-08T17:29:58.516Z,1736357398.516 [DAT](INFO): got valid direction response:
 17:29:56.6658 LVL= 21232, 28785, 17890, 30243, AGC= 65, IDX= 332,-0.02,-1.653,-3.077,-1.687,-2.080, PHS= 0.515,-0.951, 0.389, RAW= 145.6,   0.7, CAL= 149.2,  -8.3, ROT=   0.8,   8.3

2025-01-08T17:29:58.517Z,1736357398.517 [DAT](INFO): DAT read: Bearing   0.8,   8.3 (Local)

2025-01-08T17:29:58.517Z,1736357398.517 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.8,   8.3 (Local)

2025-01-08T17:29:58.519Z,1736357398.519 [DAT](INFO): DAT read: Range 10 to 50 : 92.5 m  (Round-trip  123.4 ms) speed  0.5 m/s

2025-01-08T17:29:58.520Z,1736357398.520 [DAT](INFO): DAT read: user:197>

2025-01-08T17:29:58.520Z,1736357398.520 [DAT](INFO): DAT read: Tx time:17:29:57.7867

2025-01-08T17:29:58.521Z,1736357398.521 [DAT](INFO): Ping request sent.
2025-01-08T17:29:58.521Z,1736357398.521 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:29:58.521Z,1736357398.521 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:29:58.522Z,1736357398.522 [DAT](INFO): direction in FSK: [0.989429,0.013816,-0.144356]
2025-01-08T17:29:58.522Z,1736357398.522 [DAT](INFO): publishing transmit ping time
2025-01-08T17:29:58.523Z,1736357398.523 [DAT](INFO): publishing direction and range info
2025-01-08T17:29:58.543Z,1736357398.543 [DAT](INFO): publishing transmit ping time
2025-01-08T17:29:58.544Z,1736357398.544 [DAT](INFO): publishing direction and range info
2025-01-08T17:29:58.763Z,1736357398.763 [DAT](INFO): DAT read: TxSync time:17:29:57.7859

2025-01-08T17:29:58.870Z,1736357398.870 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:58.914Z,1736357398.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 92.500000 m,
      deltaT: 36.552478 s,
      deltaX: -24.900002 m,
      approachRate: -0.681212 m/s,
      rangeRepo size: 4

2025-01-08T17:29:58.921Z,1736357398.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 92.500000 m,
      bearing: 271.615267 deg,
      lat: 36.904169 deg,
      lon: -122.119117 deg,
      deltaT: 36.552478 s,
      deltaX: -24.900002 m,
      approachRate: -0.681212 m/s,
      posRepo size: 4

2025-01-08T17:29:58.922Z,1736357398.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.50 m.
2025-01-08T17:29:58.929Z,1736357398.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.500000 m,
      nav range: 91.515411 m,
      bearing: 273.160812 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015205 deg/s,
      cmd heading: 270.274875 deg,
      new cmd heading: 270.296142 deg.

2025-01-08T17:29:58.930Z,1736357398.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717557 target range: 92.500000 and range: 92.50 m.
2025-01-08T17:29:59.246Z,1736357399.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:59.254Z,1736357399.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.50 m.
2025-01-08T17:29:59.258Z,1736357399.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.500000 m,
      nav range: 91.268700 m,
      bearing: 273.163224 deg,
      approach rate: -0.711590 m/s,
      LOS rate: 0.006975 deg/s,
      cmd heading: 270.296130 deg,
      new cmd heading: 270.303386 deg.

2025-01-08T17:29:59.259Z,1736357399.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717684 target range: 92.500000 and range: 92.50 m.
2025-01-08T17:29:59.630Z,1736357399.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:29:59.638Z,1736357399.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.50 m.
2025-01-08T17:29:59.642Z,1736357399.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.500000 m,
      nav range: 91.016792 m,
      bearing: 273.165716 deg,
      approach rate: -0.656369 m/s,
      LOS rate: 0.006513 deg/s,
      cmd heading: 270.303398 deg,
      new cmd heading: 270.310896 deg.

2025-01-08T17:29:59.643Z,1736357399.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717815 target range: 92.500000 and range: 92.50 m.
2025-01-08T17:30:00.067Z,1736357400.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:00.075Z,1736357400.075 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:00.077Z,1736357400.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.50 m.
2025-01-08T17:30:00.080Z,1736357400.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.500000 m,
      nav range: 90.739983 m,
      bearing: 273.164734 deg,
      approach rate: -0.630302 m/s,
      LOS rate: -0.002242 deg/s,
      cmd heading: 270.310884 deg,
      new cmd heading: 270.307930 deg.

2025-01-08T17:30:00.081Z,1736357400.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717763 target range: 92.500000 and range: 92.50 m.
2025-01-08T17:30:00.273Z,1736357400.273 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:00.273Z,1736357400.273 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:00.274Z,1736357400.274 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:30:00.447Z,1736357400.447 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:00.455Z,1736357400.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.50 m.
2025-01-08T17:30:00.459Z,1736357400.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.500000 m,
      nav range: 90.507095 m,
      bearing: 273.163314 deg,
      approach rate: -0.616223 m/s,
      LOS rate: -0.003768 deg/s,
      cmd heading: 270.307933 deg,
      new cmd heading: 270.303661 deg.

2025-01-08T17:30:00.461Z,1736357400.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717689 target range: 92.500000 and range: 92.50 m.
2025-01-08T17:30:00.525Z,1736357400.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004202
2025-01-08T17:30:00.780Z,1736357400.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258232
2025-01-08T17:30:00.887Z,1736357400.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:00.896Z,1736357400.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.50 m.
2025-01-08T17:30:00.898Z,1736357400.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.500000 m,
      nav range: 90.234688 m,
      bearing: 273.160264 deg,
      approach rate: -0.618824 m/s,
      LOS rate: -0.006951 deg/s,
      cmd heading: 270.303671 deg,
      new cmd heading: 270.294492 deg.

2025-01-08T17:30:00.900Z,1736357400.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717529 target range: 92.500000 and range: 92.50 m.
2025-01-08T17:30:01.028Z,1736357401.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507478
2025-01-08T17:30:01.245Z,1736357401.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:01.270Z,1736357401.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.50 m.
2025-01-08T17:30:01.277Z,1736357401.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.500000 m,
      nav range: 90.018509 m,
      bearing: 273.157131 deg,
      approach rate: -0.576649 m/s,
      LOS rate: -0.008376 deg/s,
      cmd heading: 270.294491 deg,
      new cmd heading: 270.285071 deg.

2025-01-08T17:30:01.278Z,1736357401.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717364 target range: 92.500000 and range: 92.50 m.
2025-01-08T17:30:01.281Z,1736357401.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759828
2025-01-08T17:30:01.532Z,1736357401.532 [DAT](INFO): DAT read: Rx Time:17:30:00.3111

2025-01-08T17:30:01.533Z,1736357401.533 [DAT](INFO): Rx dataTimestamp_ set to:1736357401.532587
2025-01-08T17:30:01.533Z,1736357401.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012718
2025-01-08T17:30:01.655Z,1736357401.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:01.665Z,1736357401.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.50 m.
2025-01-08T17:30:01.668Z,1736357401.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.500000 m,
      nav range: 89.771538 m,
      bearing: 273.153269 deg,
      approach rate: -0.624979 m/s,
      LOS rate: -0.009800 deg/s,
      cmd heading: 270.285065 deg,
      new cmd heading: 270.273448 deg.

2025-01-08T17:30:01.669Z,1736357401.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717162 target range: 92.500000 and range: 92.50 m.
2025-01-08T17:30:01.788Z,1736357401.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266966
2025-01-08T17:30:02.051Z,1736357402.051 [DAT](INFO): DAT read: 17:30:00.3111 LVL= 28960, 22737, 22338, 32755, AGC= 65, IDX= 412,-0.38,-1.834, 2.978,-1.831,-2.257, PHS= 0.512,-1.001, 0.423, RAW= 147.0,   0.9, CAL= 150.3,  -8.0, ROT= 359.7,   8.0

2025-01-08T17:30:02.053Z,1736357402.053 [DAT](INFO): got valid direction response:
 17:30:00.3111 LVL= 28960, 22737, 22338, 32755, AGC= 65, IDX= 412,-0.38,-1.834, 2.978,-1.831,-2.257, PHS= 0.512,-1.001, 0.423, RAW= 147.0,   0.9, CAL= 150.3,  -8.0, ROT= 359.7,   8.0

2025-01-08T17:30:02.053Z,1736357402.053 [DAT](INFO): DAT read: Bearing 359.7,   8.0 (Local)

2025-01-08T17:30:02.054Z,1736357402.054 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.7,   8.0 (Local)

2025-01-08T17:30:02.055Z,1736357402.055 [DAT](INFO): DAT read: Range 10 to 50 : 90.2 m  (Round-trip  120.3 ms) speed  0.4 m/s

2025-01-08T17:30:02.058Z,1736357402.058 [DAT](INFO): DAT read: user:198>

2025-01-08T17:30:02.068Z,1736357402.068 [DAT](INFO): DAT read: Tx time:17:30:01.4367

2025-01-08T17:30:02.068Z,1736357402.068 [DAT](INFO): Ping request sent.
2025-01-08T17:30:02.068Z,1736357402.068 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:30:02.069Z,1736357402.069 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:30:02.070Z,1736357402.070 [DAT](INFO): direction in FSK: [0.990254,-0.005185,-0.139173]
2025-01-08T17:30:02.070Z,1736357402.070 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:02.070Z,1736357402.070 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:02.074Z,1736357402.074 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:02.075Z,1736357402.075 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:02.205Z,1736357402.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:02.251Z,1736357402.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 90.199997 m,
      deltaT: 3.528841 s,
      deltaX: -2.300003 m,
      approachRate: -0.651773 m/s,
      rangeRepo size: 4

2025-01-08T17:30:02.268Z,1736357402.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 90.199997 m,
      bearing: 271.248862 deg,
      lat: 36.904154 deg,
      lon: -122.119117 deg,
      deltaT: 3.528841 s,
      deltaX: -2.300003 m,
      approachRate: -0.651773 m/s,
      posRepo size: 4

2025-01-08T17:30:02.269Z,1736357402.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:02.276Z,1736357402.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 89.372742 m,
      bearing: 272.074555 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009800 deg/s,
      cmd heading: 270.273454 deg,
      new cmd heading: 270.256263 deg.

2025-01-08T17:30:02.277Z,1736357402.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716862 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:02.289Z,1736357402.289 [DAT](INFO): DAT read: TxSync time:17:30:01.4360

2025-01-08T17:30:02.575Z,1736357402.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:02.602Z,1736357402.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:02.608Z,1736357402.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:02.615Z,1736357402.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 89.156395 m,
      bearing: 272.068359 deg,
      approach rate: -0.603882 m/s,
      LOS rate: -0.017337 deg/s,
      cmd heading: 270.256269 deg,
      new cmd heading: 270.237635 deg.

2025-01-08T17:30:02.616Z,1736357402.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716537 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:02.795Z,1736357402.795 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:02.796Z,1736357402.796 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:02.797Z,1736357402.797 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:30:03.016Z,1736357403.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:03.025Z,1736357403.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:03.028Z,1736357403.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 88.902985 m,
      bearing: 272.063259 deg,
      approach rate: -0.607907 m/s,
      LOS rate: -0.012269 deg/s,
      cmd heading: 270.237637 deg,
      new cmd heading: 270.222294 deg.

2025-01-08T17:30:03.029Z,1736357403.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716269 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:03.044Z,1736357403.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.976028
2025-01-08T17:30:03.297Z,1736357403.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228192
2025-01-08T17:30:03.389Z,1736357403.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:03.399Z,1736357403.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:03.401Z,1736357403.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 88.688957 m,
      bearing: 272.059044 deg,
      approach rate: -0.573225 m/s,
      LOS rate: -0.011317 deg/s,
      cmd heading: 270.222282 deg,
      new cmd heading: 270.209606 deg.

2025-01-08T17:30:03.402Z,1736357403.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716047 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:03.548Z,1736357403.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479954
2025-01-08T17:30:03.804Z,1736357403.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734572
2025-01-08T17:30:03.887Z,1736357403.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:03.911Z,1736357403.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:03.919Z,1736357403.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 88.411812 m,
      bearing: 272.054278 deg,
      approach rate: -0.541339 m/s,
      LOS rate: -0.009337 deg/s,
      cmd heading: 270.209606 deg,
      new cmd heading: 270.195264 deg.

2025-01-08T17:30:03.920Z,1736357403.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715797 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:04.052Z,1736357404.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984008
2025-01-08T17:30:04.204Z,1736357404.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:04.214Z,1736357404.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:04.241Z,1736357404.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 88.220367 m,
      bearing: 272.050601 deg,
      approach rate: -0.631238 m/s,
      LOS rate: -0.012151 deg/s,
      cmd heading: 270.195262 deg,
      new cmd heading: 270.184206 deg.

2025-01-08T17:30:04.242Z,1736357404.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715604 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:04.309Z,1736357404.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240236
2025-01-08T17:30:04.562Z,1736357404.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493489
2025-01-08T17:30:04.620Z,1736357404.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:04.629Z,1736357404.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:04.631Z,1736357404.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:04.633Z,1736357404.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 87.981972 m,
      bearing: 272.045558 deg,
      approach rate: -0.572028 m/s,
      LOS rate: -0.012133 deg/s,
      cmd heading: 270.184197 deg,
      new cmd heading: 270.169028 deg.

2025-01-08T17:30:04.634Z,1736357404.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715339 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:04.815Z,1736357404.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746017
2025-01-08T17:30:05.053Z,1736357405.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:05.064Z,1736357405.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996055
2025-01-08T17:30:05.080Z,1736357405.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:05.083Z,1736357405.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 87.720474 m,
      bearing: 272.040576 deg,
      approach rate: -0.581994 m/s,
      LOS rate: -0.011121 deg/s,
      cmd heading: 270.169034 deg,
      new cmd heading: 270.154044 deg.

2025-01-08T17:30:05.088Z,1736357405.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715077 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:05.316Z,1736357405.316 [DAT](INFO): DAT read: Rx Time:17:30:03.9589

2025-01-08T17:30:05.317Z,1736357405.317 [DAT](INFO): Rx dataTimestamp_ set to:1736357405.316557
2025-01-08T17:30:05.317Z,1736357405.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249073
2025-01-08T17:30:05.435Z,1736357405.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:05.445Z,1736357405.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:05.448Z,1736357405.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 87.489502 m,
      bearing: 272.036151 deg,
      approach rate: -0.632685 m/s,
      LOS rate: -0.012153 deg/s,
      cmd heading: 270.154035 deg,
      new cmd heading: 270.140725 deg.

2025-01-08T17:30:05.449Z,1736357405.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714845 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:05.569Z,1736357405.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500488
2025-01-08T17:30:05.861Z,1736357405.861 [DAT](INFO): DAT read: 17:30:03.9589 LVL= 24416, 27633, 18722, 29907, AGC= 67, IDX= 420, 0.43, 2.476, 1.077, 2.495, 2.044, PHS= 0.520,-0.920, 0.448, RAW= 147.5,  -0.7, CAL= 151.2,  -9.7, ROT= 358.8,   9.7

2025-01-08T17:30:05.862Z,1736357405.862 [DAT](INFO): got valid direction response:
 17:30:03.9589 LVL= 24416, 27633, 18722, 29907, AGC= 67, IDX= 420, 0.43, 2.476, 1.077, 2.495, 2.044, PHS= 0.520,-0.920, 0.448, RAW= 147.5,  -0.7, CAL= 151.2,  -9.7, ROT= 358.8,   9.7

2025-01-08T17:30:05.871Z,1736357405.871 [DAT](INFO): DAT read: $Error in header

2025-01-08T17:30:05.872Z,1736357405.872 [DAT](INFO): Received a bad header
2025-01-08T17:30:05.883Z,1736357405.883 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-08T17:30:05.884Z,1736357405.884 [DAT](INFO): direction in FSK: [0.985487,-0.020643,-0.168489]
2025-01-08T17:30:05.887Z,1736357405.887 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:05.888Z,1736357405.888 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:05.888Z,1736357405.888 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:05.948Z,1736357405.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:05.970Z,1736357405.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:05.976Z,1736357405.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 87.157005 m,
      bearing: 272.031459 deg,
      approach rate: -0.633857 m/s,
      LOS rate: -0.008979 deg/s,
      cmd heading: 270.140730 deg,
      new cmd heading: 270.126600 deg.

2025-01-08T17:30:05.978Z,1736357405.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714599 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:06.072Z,1736357406.072 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:06.073Z,1736357406.073 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:06.073Z,1736357406.073 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:06.267Z,1736357406.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:06.276Z,1736357406.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:06.296Z,1736357406.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 86.950493 m,
      bearing: 272.028462 deg,
      approach rate: -0.673752 m/s,
      LOS rate: -0.009802 deg/s,
      cmd heading: 270.126605 deg,
      new cmd heading: 270.117592 deg.

2025-01-08T17:30:06.297Z,1736357406.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714441 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:06.324Z,1736357406.324 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:06.324Z,1736357406.324 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:06.324Z,1736357406.324 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:06.576Z,1736357406.576 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:06.576Z,1736357406.576 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:06.576Z,1736357406.576 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:06.672Z,1736357406.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:06.680Z,1736357406.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:06.684Z,1736357406.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:06.693Z,1736357406.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 86.687912 m,
      bearing: 272.024646 deg,
      approach rate: -0.645133 m/s,
      LOS rate: -0.009404 deg/s,
      cmd heading: 270.117589 deg,
      new cmd heading: 270.106107 deg.

2025-01-08T17:30:06.694Z,1736357406.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714241 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:06.831Z,1736357406.831 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:06.832Z,1736357406.832 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:06.832Z,1736357406.832 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:07.084Z,1736357407.084 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:07.084Z,1736357407.084 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:07.085Z,1736357407.085 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:07.118Z,1736357407.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:07.142Z,1736357407.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:07.149Z,1736357407.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 86.370872 m,
      bearing: 272.019379 deg,
      approach rate: -0.690438 m/s,
      LOS rate: -0.011513 deg/s,
      cmd heading: 270.106115 deg,
      new cmd heading: 270.090255 deg.

2025-01-08T17:30:07.150Z,1736357407.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713964 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:07.332Z,1736357407.332 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:07.332Z,1736357407.332 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:07.332Z,1736357407.332 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:07.471Z,1736357407.471 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:07.497Z,1736357407.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:07.499Z,1736357407.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 86.120743 m,
      bearing: 272.015352 deg,
      approach rate: -0.705821 m/s,
      LOS rate: -0.011396 deg/s,
      cmd heading: 270.090241 deg,
      new cmd heading: 270.078126 deg.

2025-01-08T17:30:07.501Z,1736357407.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713753 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:07.585Z,1736357407.585 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:07.585Z,1736357407.585 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:07.585Z,1736357407.585 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:07.838Z,1736357407.838 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:07.839Z,1736357407.839 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:07.839Z,1736357407.839 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:07.970Z,1736357407.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:07.978Z,1736357407.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:07.981Z,1736357407.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 85.743484 m,
      bearing: 272.008996 deg,
      approach rate: -0.783526 m/s,
      LOS rate: -0.013258 deg/s,
      cmd heading: 270.078138 deg,
      new cmd heading: 270.058988 deg.

2025-01-08T17:30:07.982Z,1736357407.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713418 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:08.088Z,1736357408.088 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:08.088Z,1736357408.088 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:08.089Z,1736357408.089 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:08.286Z,1736357408.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:08.298Z,1736357408.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:08.321Z,1736357408.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 85.503983 m,
      bearing: 272.005708 deg,
      approach rate: -0.747579 m/s,
      LOS rate: -0.010293 deg/s,
      cmd heading: 270.058986 deg,
      new cmd heading: 270.049094 deg.

2025-01-08T17:30:08.328Z,1736357408.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713246 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:08.341Z,1736357408.341 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:08.341Z,1736357408.341 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:08.341Z,1736357408.341 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:08.592Z,1736357408.592 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:08.592Z,1736357408.592 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:08.593Z,1736357408.593 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:08.703Z,1736357408.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:08.714Z,1736357408.714 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:08.717Z,1736357408.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:08.720Z,1736357408.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 85.188995 m,
      bearing: 272.001355 deg,
      approach rate: -0.752699 m/s,
      LOS rate: -0.010440 deg/s,
      cmd heading: 270.049096 deg,
      new cmd heading: 270.035989 deg.

2025-01-08T17:30:08.721Z,1736357408.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713017 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:08.847Z,1736357408.847 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:08.847Z,1736357408.847 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:08.848Z,1736357408.848 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:09.096Z,1736357409.096 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:09.096Z,1736357409.096 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:09.096Z,1736357409.096 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:09.125Z,1736357409.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:09.134Z,1736357409.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:09.161Z,1736357409.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 84.856743 m,
      bearing: 271.993490 deg,
      approach rate: -0.797292 m/s,
      LOS rate: -0.018947 deg/s,
      cmd heading: 270.035982 deg,
      new cmd heading: 270.012295 deg.

2025-01-08T17:30:09.168Z,1736357409.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712604 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:09.276Z,1736357409.276 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:30:09.348Z,1736357409.348 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:09.348Z,1736357409.348 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:09.348Z,1736357409.348 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:09.521Z,1736357409.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:09.530Z,1736357409.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:09.533Z,1736357409.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 84.545471 m,
      bearing: 271.986066 deg,
      approach rate: -0.784581 m/s,
      LOS rate: -0.018782 deg/s,
      cmd heading: 270.012295 deg,
      new cmd heading: 269.989940 deg.

2025-01-08T17:30:09.534Z,1736357409.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712214 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:09.602Z,1736357409.602 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:09.602Z,1736357409.602 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:09.602Z,1736357409.602 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:09.855Z,1736357409.855 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:09.855Z,1736357409.855 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:09.856Z,1736357409.856 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:09.992Z,1736357409.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:10.018Z,1736357410.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:10.022Z,1736357410.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 84.174370 m,
      bearing: 271.982552 deg,
      approach rate: -0.760829 m/s,
      LOS rate: -0.007237 deg/s,
      cmd heading: 269.989947 deg,
      new cmd heading: 269.979357 deg.

2025-01-08T17:30:10.023Z,1736357410.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712029 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:10.105Z,1736357410.105 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:10.105Z,1736357410.105 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:10.105Z,1736357410.105 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:10.280Z,1736357410.280 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:30:10.326Z,1736357410.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:10.334Z,1736357410.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:10.337Z,1736357410.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 83.909836 m,
      bearing: 271.980987 deg,
      approach rate: -0.836876 m/s,
      LOS rate: -0.004966 deg/s,
      cmd heading: 269.979346 deg,
      new cmd heading: 269.974637 deg.

2025-01-08T17:30:10.338Z,1736357410.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711946 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:10.357Z,1736357410.357 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:10.357Z,1736357410.357 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:10.357Z,1736357410.357 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:10.608Z,1736357410.608 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:10.608Z,1736357410.608 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:10.608Z,1736357410.608 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:10.728Z,1736357410.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:10.734Z,1736357410.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:10.737Z,1736357410.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:10.740Z,1736357410.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 83.592079 m,
      bearing: 271.979588 deg,
      approach rate: -0.789823 m/s,
      LOS rate: -0.003490 deg/s,
      cmd heading: 269.974647 deg,
      new cmd heading: 269.970435 deg.

2025-01-08T17:30:10.741Z,1736357410.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711873 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:10.866Z,1736357410.866 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:10.866Z,1736357410.866 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:10.866Z,1736357410.866 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:11.120Z,1736357411.120 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:11.120Z,1736357411.120 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:11.120Z,1736357411.120 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:11.178Z,1736357411.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:11.227Z,1736357411.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:11.230Z,1736357411.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 83.237404 m,
      bearing: 271.973493 deg,
      approach rate: -0.751124 m/s,
      LOS rate: -0.012962 deg/s,
      cmd heading: 269.970440 deg,
      new cmd heading: 269.952077 deg.

2025-01-08T17:30:11.231Z,1736357411.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711553 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:11.372Z,1736357411.372 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:11.373Z,1736357411.373 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:11.373Z,1736357411.373 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:11.534Z,1736357411.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:11.543Z,1736357411.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:11.546Z,1736357411.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 82.956718 m,
      bearing: 271.969070 deg,
      approach rate: -0.840615 m/s,
      LOS rate: -0.013292 deg/s,
      cmd heading: 269.952080 deg,
      new cmd heading: 269.938765 deg.

2025-01-08T17:30:11.547Z,1736357411.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711320 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:11.624Z,1736357411.624 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:11.625Z,1736357411.625 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:11.625Z,1736357411.625 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:11.879Z,1736357411.879 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:11.879Z,1736357411.879 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:11.880Z,1736357411.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:30:12.001Z,1736357412.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:12.016Z,1736357412.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:12.020Z,1736357412.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 82.615341 m,
      bearing: 271.969107 deg,
      approach rate: -0.723542 m/s,
      LOS rate: 0.000078 deg/s,
      cmd heading: 269.938775 deg,
      new cmd heading: 269.938885 deg.

2025-01-08T17:30:12.021Z,1736357412.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711322 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:12.129Z,1736357412.129 [DAT](INFO): Reached modem response timeout
2025-01-08T17:30:12.130Z,1736357412.130 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:30:12.130Z,1736357412.130 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:30:12.337Z,1736357412.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:12.346Z,1736357412.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:12.349Z,1736357412.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 82.369743 m,
      bearing: 271.969350 deg,
      approach rate: -0.742003 m/s,
      LOS rate: 0.000738 deg/s,
      cmd heading: 269.938884 deg,
      new cmd heading: 269.939617 deg.

2025-01-08T17:30:12.350Z,1736357412.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711335 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:12.380Z,1736357412.380 [DAT](INFO): Reached modem response timeout
2025-01-08T17:30:12.380Z,1736357412.380 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:30:12.380Z,1736357412.380 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:30:12.632Z,1736357412.632 [DAT](INFO): Reached modem response timeout
2025-01-08T17:30:12.632Z,1736357412.632 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:30:12.632Z,1736357412.632 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:30:12.754Z,1736357412.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:12.762Z,1736357412.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:12.765Z,1736357412.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:12.768Z,1736357412.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 82.064590 m,
      bearing: 271.969926 deg,
      approach rate: -0.727414 m/s,
      LOS rate: 0.001378 deg/s,
      cmd heading: 269.939622 deg,
      new cmd heading: 269.941356 deg.

2025-01-08T17:30:12.769Z,1736357412.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711365 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:12.885Z,1736357412.885 [DAT](INFO): Reached modem response timeout
2025-01-08T17:30:12.886Z,1736357412.886 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:30:12.888Z,1736357412.888 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:30:13.138Z,1736357413.138 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:30:13.139Z,1736357413.139 [DAT](INFO): response not received
2025-01-08T17:30:13.140Z,1736357413.140 [DAT](INFO): DAT read: user:200>

2025-01-08T17:30:13.142Z,1736357413.142 [DAT](INFO): DAT read: Tx time:17:30:12.3869

2025-01-08T17:30:13.142Z,1736357413.142 [DAT](INFO): Ping request sent.
2025-01-08T17:30:13.143Z,1736357413.143 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:30:13.144Z,1736357413.144 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:13.145Z,1736357413.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002402
2025-01-08T17:30:13.250Z,1736357413.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:13.260Z,1736357413.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:13.262Z,1736357413.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 81.728500 m,
      bearing: 271.962663 deg,
      approach rate: -0.679942 m/s,
      LOS rate: -0.014755 deg/s,
      cmd heading: 269.941343 deg,
      new cmd heading: 269.919463 deg.

2025-01-08T17:30:13.264Z,1736357413.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710983 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:13.388Z,1736357413.388 [DAT](INFO): DAT read: TxSync time:17:30:12.3861

2025-01-08T17:30:13.390Z,1736357413.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247242
2025-01-08T17:30:13.548Z,1736357413.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:13.572Z,1736357413.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:13.576Z,1736357413.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 81.527184 m,
      bearing: 271.958437 deg,
      approach rate: -0.643814 m/s,
      LOS rate: -0.013546 deg/s,
      cmd heading: 269.919459 deg,
      new cmd heading: 269.906752 deg.

2025-01-08T17:30:13.577Z,1736357413.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710762 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:13.641Z,1736357413.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498430
2025-01-08T17:30:13.892Z,1736357413.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749684
2025-01-08T17:30:14.039Z,1736357414.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:14.072Z,1736357414.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:14.075Z,1736357414.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 81.218864 m,
      bearing: 271.953849 deg,
      approach rate: -0.616813 m/s,
      LOS rate: -0.009214 deg/s,
      cmd heading: 269.906755 deg,
      new cmd heading: 269.892937 deg.

2025-01-08T17:30:14.080Z,1736357414.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710520 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:14.146Z,1736357414.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002928
2025-01-08T17:30:14.371Z,1736357414.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:14.380Z,1736357414.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:14.383Z,1736357414.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 81.010216 m,
      bearing: 271.950724 deg,
      approach rate: -0.676366 m/s,
      LOS rate: -0.010156 deg/s,
      cmd heading: 269.892931 deg,
      new cmd heading: 269.883532 deg.

2025-01-08T17:30:14.384Z,1736357414.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710356 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:14.396Z,1736357414.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253771
2025-01-08T17:30:14.648Z,1736357414.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505678
2025-01-08T17:30:14.783Z,1736357414.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:14.790Z,1736357414.790 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:14.793Z,1736357414.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:14.796Z,1736357414.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 80.751877 m,
      bearing: 271.946832 deg,
      approach rate: -0.626601 m/s,
      LOS rate: -0.009469 deg/s,
      cmd heading: 269.883532 deg,
      new cmd heading: 269.871820 deg.

2025-01-08T17:30:14.797Z,1736357414.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710152 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:14.900Z,1736357414.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757789
2025-01-08T17:30:15.153Z,1736357415.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010525
2025-01-08T17:30:15.234Z,1736357415.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:15.244Z,1736357415.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:15.246Z,1736357415.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 80.486534 m,
      bearing: 271.942583 deg,
      approach rate: -0.588823 m/s,
      LOS rate: -0.009461 deg/s,
      cmd heading: 269.871812 deg,
      new cmd heading: 269.859022 deg.

2025-01-08T17:30:15.247Z,1736357415.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709929 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:15.404Z,1736357415.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261568
2025-01-08T17:30:15.569Z,1736357415.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:15.578Z,1736357415.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:15.597Z,1736357415.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 80.289810 m,
      bearing: 271.938808 deg,
      approach rate: -0.587585 m/s,
      LOS rate: -0.011302 deg/s,
      cmd heading: 269.859026 deg,
      new cmd heading: 269.847673 deg.

2025-01-08T17:30:15.598Z,1736357415.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709730 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:15.658Z,1736357415.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515066
2025-01-08T17:30:15.908Z,1736357415.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765739
2025-01-08T17:30:16.042Z,1736357416.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:16.050Z,1736357416.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:16.080Z,1736357416.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 80.020050 m,
      bearing: 271.930685 deg,
      approach rate: -0.571066 m/s,
      LOS rate: -0.017255 deg/s,
      cmd heading: 269.847660 deg,
      new cmd heading: 269.823207 deg.

2025-01-08T17:30:16.085Z,1736357416.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709303 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:16.165Z,1736357416.165 [DAT](INFO): DAT read: Rx Time:17:30:14.8983

2025-01-08T17:30:16.165Z,1736357416.165 [DAT](INFO): Rx dataTimestamp_ set to:1736357416.165072
2025-01-08T17:30:16.166Z,1736357416.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023314
2025-01-08T17:30:16.372Z,1736357416.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:16.381Z,1736357416.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.20 m.
2025-01-08T17:30:16.384Z,1736357416.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 90.199997 m,
      nav range: 79.832069 m,
      bearing: 271.924864 deg,
      approach rate: -0.568845 m/s,
      LOS rate: -0.017655 deg/s,
      cmd heading: 269.823208 deg,
      new cmd heading: 269.805705 deg.

2025-01-08T17:30:16.385Z,1736357416.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708998 target range: 90.199997 and range: 90.20 m.
2025-01-08T17:30:16.416Z,1736357416.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273664
2025-01-08T17:30:16.675Z,1736357416.675 [DAT](INFO): DAT read: 17:30:14.8983 LVL= 20976, 26337, 16946, 29411, AGC= 65, IDX= 327,-0.18, 3.043, 1.690, 3.024, 2.662, PHS= 0.469,-0.926, 0.359, RAW= 145.9,   1.5, CAL= 149.3,  -7.4, ROT=   0.7,   7.4

2025-01-08T17:30:16.682Z,1736357416.682 [DAT](INFO): got valid direction response:
 17:30:14.8983 LVL= 20976, 26337, 16946, 29411, AGC= 65, IDX= 327,-0.18, 3.043, 1.690, 3.024, 2.662, PHS= 0.469,-0.926, 0.359, RAW= 145.9,   1.5, CAL= 149.3,  -7.4, ROT=   0.7,   7.4

2025-01-08T17:30:16.684Z,1736357416.684 [DAT](INFO): DAT read: Bearing   0.7,   7.4 (Local)

2025-01-08T17:30:16.685Z,1736357416.685 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7,   7.4 (Local)

2025-01-08T17:30:16.687Z,1736357416.687 [DAT](INFO): DAT read: Range 10 to 50 : 80.4 m  (Round-trip  107.3 ms) speed  0.4 m/s

2025-01-08T17:30:16.688Z,1736357416.688 [DAT](INFO): DAT read: user:201>

2025-01-08T17:30:16.690Z,1736357416.690 [DAT](INFO): DAT read: Tx time:17:30:15.9869

2025-01-08T17:30:16.690Z,1736357416.690 [DAT](INFO): Ping request sent.
2025-01-08T17:30:16.690Z,1736357416.690 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:30:16.691Z,1736357416.691 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:30:16.693Z,1736357416.693 [DAT](INFO): direction in FSK: [0.991597,0.012115,-0.128796]
2025-01-08T17:30:16.693Z,1736357416.693 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:16.693Z,1736357416.693 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:16.724Z,1736357416.724 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:16.725Z,1736357416.725 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:16.797Z,1736357416.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:16.852Z,1736357416.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 80.400002 m,
      deltaT: 14.630721 s,
      deltaX: -9.799995 m,
      approachRate: -0.669823 m/s,
      rangeRepo size: 4

2025-01-08T17:30:16.854Z,1736357416.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 80.400002 m,
      bearing: 271.728196 deg,
      lat: 36.904152 deg,
      lon: -122.119120 deg,
      deltaT: 14.630721 s,
      deltaX: -9.799995 m,
      approachRate: -0.669823 m/s,
      posRepo size: 4

2025-01-08T17:30:16.854Z,1736357416.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m.
2025-01-08T17:30:16.858Z,1736357416.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.400002 m,
      nav range: 79.802803 m,
      bearing: 271.729743 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017655 deg/s,
      cmd heading: 269.805695 deg,
      new cmd heading: 269.781508 deg.

2025-01-08T17:30:16.863Z,1736357416.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708576 target range: 80.400002 and range: 80.40 m.
2025-01-08T17:30:16.921Z,1736357416.921 [DAT](INFO): DAT read: TxSync time:17:30:15.9861

2025-01-08T17:30:17.233Z,1736357417.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:17.241Z,1736357417.241 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:17.243Z,1736357417.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m.
2025-01-08T17:30:17.248Z,1736357417.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.400002 m,
      nav range: 79.549515 m,
      bearing: 271.719193 deg,
      approach rate: -0.625293 m/s,
      LOS rate: -0.026128 deg/s,
      cmd heading: 269.781517 deg,
      new cmd heading: 269.749765 deg.

2025-01-08T17:30:17.249Z,1736357417.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708022 target range: 80.400002 and range: 80.40 m.
2025-01-08T17:30:17.424Z,1736357417.424 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:17.424Z,1736357417.424 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:17.424Z,1736357417.424 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:30:17.592Z,1736357417.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:17.625Z,1736357417.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m.
2025-01-08T17:30:17.632Z,1736357417.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.400002 m,
      nav range: 79.341103 m,
      bearing: 271.710965 deg,
      approach rate: -0.545245 m/s,
      LOS rate: -0.021583 deg/s,
      cmd heading: 269.749770 deg,
      new cmd heading: 269.725021 deg.

2025-01-08T17:30:17.633Z,1736357417.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707590 target range: 80.400002 and range: 80.40 m.
2025-01-08T17:30:17.677Z,1736357417.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986118
2025-01-08T17:30:17.928Z,1736357417.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237891
2025-01-08T17:30:18.089Z,1736357418.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:18.097Z,1736357418.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m.
2025-01-08T17:30:18.100Z,1736357418.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.400002 m,
      nav range: 79.042236 m,
      bearing: 271.698620 deg,
      approach rate: -0.633214 m/s,
      LOS rate: -0.026253 deg/s,
      cmd heading: 269.725017 deg,
      new cmd heading: 269.687844 deg.

2025-01-08T17:30:18.101Z,1736357418.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706941 target range: 80.400002 and range: 80.40 m.
2025-01-08T17:30:18.184Z,1736357418.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492571
2025-01-08T17:30:18.392Z,1736357418.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:18.400Z,1736357418.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m.
2025-01-08T17:30:18.403Z,1736357418.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.400002 m,
      nav range: 78.859703 m,
      bearing: 271.691053 deg,
      approach rate: -0.601552 m/s,
      LOS rate: -0.024997 deg/s,
      cmd heading: 269.687834 deg,
      new cmd heading: 269.665079 deg.

2025-01-08T17:30:18.404Z,1736357418.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706543 target range: 80.400002 and range: 80.40 m.
2025-01-08T17:30:18.439Z,1736357418.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748640
2025-01-08T17:30:18.689Z,1736357418.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998167
2025-01-08T17:30:18.799Z,1736357418.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:18.828Z,1736357418.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m.
2025-01-08T17:30:18.830Z,1736357418.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.400002 m,
      nav range: 78.614281 m,
      bearing: 271.680453 deg,
      approach rate: -0.574531 m/s,
      LOS rate: -0.024891 deg/s,
      cmd heading: 269.665076 deg,
      new cmd heading: 269.633178 deg.

2025-01-08T17:30:18.840Z,1736357418.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705986 target range: 80.400002 and range: 80.40 m.
2025-01-08T17:30:18.942Z,1736357418.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251440
2025-01-08T17:30:19.192Z,1736357419.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501896
2025-01-08T17:30:19.250Z,1736357419.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:19.271Z,1736357419.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:19.277Z,1736357419.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m.
2025-01-08T17:30:19.281Z,1736357419.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.400002 m,
      nav range: 78.327568 m,
      bearing: 271.668015 deg,
      approach rate: -0.637669 m/s,
      LOS rate: -0.027765 deg/s,
      cmd heading: 269.633165 deg,
      new cmd heading: 269.595714 deg.

2025-01-08T17:30:19.282Z,1736357419.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705333 target range: 80.400002 and range: 80.40 m.
2025-01-08T17:30:19.444Z,1736357419.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753873
2025-01-08T17:30:19.603Z,1736357419.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:19.633Z,1736357419.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m.
2025-01-08T17:30:19.641Z,1736357419.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.400002 m,
      nav range: 78.103401 m,
      bearing: 271.658235 deg,
      approach rate: -0.630396 m/s,
      LOS rate: -0.027582 deg/s,
      cmd heading: 269.595708 deg,
      new cmd heading: 269.566284 deg.

2025-01-08T17:30:19.648Z,1736357419.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704819 target range: 80.400002 and range: 80.40 m.
2025-01-08T17:30:19.698Z,1736357419.698 [DAT](INFO): DAT read: Rx Time:17:30:18.4957

2025-01-08T17:30:19.698Z,1736357419.698 [DAT](INFO): Rx dataTimestamp_ set to:1736357419.697750
2025-01-08T17:30:19.705Z,1736357419.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008532
2025-01-08T17:30:19.948Z,1736357419.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257780
2025-01-08T17:30:20.078Z,1736357420.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:20.102Z,1736357420.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.40 m.
2025-01-08T17:30:20.119Z,1736357420.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.400002 m,
      nav range: 77.801392 m,
      bearing: 271.645041 deg,
      approach rate: -0.644115 m/s,
      LOS rate: -0.028249 deg/s,
      cmd heading: 269.566284 deg,
      new cmd heading: 269.526548 deg.

2025-01-08T17:30:20.120Z,1736357420.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704126 target range: 80.400002 and range: 80.40 m.
2025-01-08T17:30:20.206Z,1736357420.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512352
2025-01-08T17:30:20.436Z,1736357420.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:20.459Z,1736357420.459 [DAT](INFO): DAT read: 17:30:18.4957 LVL= 29392, 26753, 22290, 31907, AGC= 67, IDX= 412,-0.33,-2.939, 1.866,-2.987, 2.918, PHS= 0.515,-1.005, 0.375, RAW= 145.2,   1.6, CAL= 148.7,  -7.2, ROT=   1.3,   7.2

2025-01-08T17:30:20.460Z,1736357420.460 [DAT](INFO): got valid direction response:
 17:30:18.4957 LVL= 29392, 26753, 22290, 31907, AGC= 67, IDX= 412,-0.33,-2.939, 1.866,-2.987, 2.918, PHS= 0.515,-1.005, 0.375, RAW= 145.2,   1.6, CAL= 148.7,  -7.2, ROT=   1.3,   7.2

2025-01-08T17:30:20.461Z,1736357420.461 [DAT](INFO): DAT read: Bearing   1.3,   7.2 (Local)

2025-01-08T17:30:20.462Z,1736357420.462 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.3,   7.2 (Local)

2025-01-08T17:30:20.463Z,1736357420.463 [DAT](INFO): DAT read: Range 10 to 50 : 78.4 m  (Round-trip  104.6 ms) speed  0.6 m/s

2025-01-08T17:30:20.464Z,1736357420.464 [DAT](INFO): DAT read: user:202>

2025-01-08T17:30:20.465Z,1736357420.465 [DAT](INFO): DAT read: Tx time:17:30:19.5869

2025-01-08T17:30:20.465Z,1736357420.465 [DAT](INFO): Ping request sent.
2025-01-08T17:30:20.465Z,1736357420.465 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:30:20.466Z,1736357420.466 [DAT](INFO): DAT read: TxSync time:17:30:19.5861

2025-01-08T17:30:20.466Z,1736357420.466 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:30:20.467Z,1736357420.467 [DAT](INFO): direction in FSK: [0.991859,0.022508,-0.125333]
2025-01-08T17:30:20.468Z,1736357420.468 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:20.468Z,1736357420.468 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:20.471Z,1736357420.471 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:20.471Z,1736357420.471 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:20.528Z,1736357420.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 78.400002 m,
      deltaT: 3.783917 s,
      deltaX: -2.000000 m,
      approachRate: -0.528553 m/s,
      rangeRepo size: 4

2025-01-08T17:30:20.530Z,1736357420.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 78.400002 m,
      bearing: 272.187866 deg,
      lat: 36.904152 deg,
      lon: -122.119120 deg,
      deltaT: 3.783917 s,
      deltaX: -2.000000 m,
      approachRate: -0.528553 m/s,
      posRepo size: 4

2025-01-08T17:30:20.531Z,1736357420.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.40 m.
2025-01-08T17:30:20.550Z,1736357420.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.400002 m,
      nav range: 77.621132 m,
      bearing: 271.634325 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028249 deg/s,
      cmd heading: 269.526559 deg,
      new cmd heading: 269.490915 deg.

2025-01-08T17:30:20.551Z,1736357420.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703504 target range: 78.400002 and range: 78.40 m.
2025-01-08T17:30:20.860Z,1736357420.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:20.877Z,1736357420.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.40 m.
2025-01-08T17:30:20.888Z,1736357420.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.400002 m,
      nav range: 77.337875 m,
      bearing: 271.623278 deg,
      approach rate: -0.799087 m/s,
      LOS rate: -0.031277 deg/s,
      cmd heading: 269.490906 deg,
      new cmd heading: 269.457645 deg.

2025-01-08T17:30:20.889Z,1736357420.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702923 target range: 78.400002 and range: 78.40 m.
2025-01-08T17:30:21.308Z,1736357421.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:21.316Z,1736357421.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:21.318Z,1736357421.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.40 m.
2025-01-08T17:30:21.320Z,1736357421.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.400002 m,
      nav range: 77.025070 m,
      bearing: 271.615080 deg,
      approach rate: -0.709367 m/s,
      LOS rate: -0.018667 deg/s,
      cmd heading: 269.457656 deg,
      new cmd heading: 269.432962 deg.

2025-01-08T17:30:21.322Z,1736357421.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702492 target range: 78.400002 and range: 78.40 m.
2025-01-08T17:30:21.460Z,1736357421.460 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:21.460Z,1736357421.460 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:21.460Z,1736357421.460 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:30:21.649Z,1736357421.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:21.659Z,1736357421.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.40 m.
2025-01-08T17:30:21.678Z,1736357421.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.400002 m,
      nav range: 76.787178 m,
      bearing: 271.608958 deg,
      approach rate: -0.696985 m/s,
      LOS rate: -0.017994 deg/s,
      cmd heading: 269.432958 deg,
      new cmd heading: 269.414534 deg.

2025-01-08T17:30:21.681Z,1736357421.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702171 target range: 78.400002 and range: 78.40 m.
2025-01-08T17:30:21.713Z,1736357421.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247927
2025-01-08T17:30:21.964Z,1736357421.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499100
2025-01-08T17:30:22.110Z,1736357422.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:22.121Z,1736357422.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.40 m.
2025-01-08T17:30:22.123Z,1736357422.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.400002 m,
      nav range: 76.465347 m,
      bearing: 271.600983 deg,
      approach rate: -0.697039 m/s,
      LOS rate: -0.017344 deg/s,
      cmd heading: 269.414544 deg,
      new cmd heading: 269.390521 deg.

2025-01-08T17:30:22.124Z,1736357422.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701752 target range: 78.400002 and range: 78.40 m.
2025-01-08T17:30:22.216Z,1736357422.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751222
2025-01-08T17:30:22.468Z,1736357422.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003121
2025-01-08T17:30:22.485Z,1736357422.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:22.494Z,1736357422.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.40 m.
2025-01-08T17:30:22.499Z,1736357422.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.400002 m,
      nav range: 76.198944 m,
      bearing: 271.595041 deg,
      approach rate: -0.712985 m/s,
      LOS rate: -0.015959 deg/s,
      cmd heading: 269.390529 deg,
      new cmd heading: 269.372640 deg.

2025-01-08T17:30:22.500Z,1736357422.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701439 target range: 78.400002 and range: 78.40 m.
2025-01-08T17:30:22.721Z,1736357422.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256019
2025-01-08T17:30:22.848Z,1736357422.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:22.870Z,1736357422.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.40 m.
2025-01-08T17:30:22.878Z,1736357422.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.400002 m,
      nav range: 75.941795 m,
      bearing: 271.588815 deg,
      approach rate: -0.688119 m/s,
      LOS rate: -0.016717 deg/s,
      cmd heading: 269.372634 deg,
      new cmd heading: 269.353893 deg.

2025-01-08T17:30:22.879Z,1736357422.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701112 target range: 78.400002 and range: 78.40 m.
2025-01-08T17:30:22.973Z,1736357422.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507967
2025-01-08T17:30:23.224Z,1736357423.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759199
2025-01-08T17:30:23.300Z,1736357423.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:23.317Z,1736357423.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:23.319Z,1736357423.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.40 m.
2025-01-08T17:30:23.321Z,1736357423.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.400002 m,
      nav range: 75.620430 m,
      bearing: 271.587018 deg,
      approach rate: -0.713126 m/s,
      LOS rate: -0.004004 deg/s,
      cmd heading: 269.353892 deg,
      new cmd heading: 269.348479 deg.

2025-01-08T17:30:23.340Z,1736357423.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701018 target range: 78.400002 and range: 78.40 m.
2025-01-08T17:30:23.476Z,1736357423.476 [DAT](INFO): DAT read: Rx Time:17:30:22.0922

2025-01-08T17:30:23.477Z,1736357423.477 [DAT](INFO): Rx dataTimestamp_ set to:1736357423.476593
2025-01-08T17:30:23.477Z,1736357423.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012242
2025-01-08T17:30:23.670Z,1736357423.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:23.681Z,1736357423.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.40 m.
2025-01-08T17:30:23.685Z,1736357423.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.400002 m,
      nav range: 75.357391 m,
      bearing: 271.585796 deg,
      approach rate: -0.728946 m/s,
      LOS rate: -0.003400 deg/s,
      cmd heading: 269.348483 deg,
      new cmd heading: 269.344802 deg.

2025-01-08T17:30:23.687Z,1736357423.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700953 target range: 78.400002 and range: 78.40 m.
2025-01-08T17:30:23.728Z,1736357423.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263121
2025-01-08T17:30:23.986Z,1736357423.986 [DAT](INFO): DAT read: 17:30:22.0922 LVL= 22576, 26385, 19698, 29939, AGC= 65, IDX= 407, 0.31,-2.956, 1.840,-3.018, 2.857, PHS= 0.559,-0.970, 0.406, RAW= 144.8,   0.1, CAL= 148.6,  -8.9, ROT=   1.4,   8.9

2025-01-08T17:30:23.987Z,1736357423.987 [DAT](INFO): got valid direction response:
 17:30:22.0922 LVL= 22576, 26385, 19698, 29939, AGC= 65, IDX= 407, 0.31,-2.956, 1.840,-3.018, 2.857, PHS= 0.559,-0.970, 0.406, RAW= 144.8,   0.1, CAL= 148.6,  -8.9, ROT=   1.4,   8.9

2025-01-08T17:30:23.988Z,1736357423.988 [DAT](INFO): DAT read: Bearing   1.4,   8.9 (Local)

2025-01-08T17:30:23.989Z,1736357423.989 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.4,   8.9 (Local)

2025-01-08T17:30:23.991Z,1736357423.991 [DAT](INFO): DAT read: Range 10 to 50 : 75.8 m  (Round-trip  101.1 ms) speed  0.8 m/s

2025-01-08T17:30:23.992Z,1736357423.992 [DAT](INFO): DAT read: user:203>

2025-01-08T17:30:23.993Z,1736357423.993 [DAT](INFO): DAT read: Tx time:17:30:23.1870

2025-01-08T17:30:23.993Z,1736357423.993 [DAT](INFO): Ping request sent.
2025-01-08T17:30:23.993Z,1736357423.993 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:30:23.993Z,1736357423.993 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:30:23.994Z,1736357423.994 [DAT](INFO): direction in FSK: [0.987665,0.024138,-0.154710]
2025-01-08T17:30:23.995Z,1736357423.995 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:23.995Z,1736357423.995 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:23.998Z,1736357423.998 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:23.998Z,1736357423.998 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:24.233Z,1736357424.233 [DAT](INFO): DAT read: TxSync time:17:30:23.1862

2025-01-08T17:30:24.257Z,1736357424.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:24.295Z,1736357424.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 75.800003 m,
      deltaT: 3.528086 s,
      deltaX: -2.599998 m,
      approachRate: -0.736943 m/s,
      rangeRepo size: 4

2025-01-08T17:30:24.301Z,1736357424.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 75.800003 m,
      bearing: 271.949201 deg,
      lat: 36.904152 deg,
      lon: -122.119121 deg,
      deltaT: 3.528086 s,
      deltaX: -2.599998 m,
      approachRate: -0.736943 m/s,
      posRepo size: 4

2025-01-08T17:30:24.302Z,1736357424.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.80 m.
2025-01-08T17:30:24.309Z,1736357424.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.800003 m,
      nav range: 75.044769 m,
      bearing: 271.586431 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003400 deg/s,
      cmd heading: 269.344794 deg,
      new cmd heading: 269.338528 deg.

2025-01-08T17:30:24.310Z,1736357424.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700844 target range: 75.800003 and range: 75.80 m.
2025-01-08T17:30:24.614Z,1736357424.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:24.642Z,1736357424.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.80 m.
2025-01-08T17:30:24.665Z,1736357424.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.800003 m,
      nav range: 74.790253 m,
      bearing: 271.588832 deg,
      approach rate: -0.754242 m/s,
      LOS rate: 0.007139 deg/s,
      cmd heading: 269.338538 deg,
      new cmd heading: 269.345764 deg.

2025-01-08T17:30:24.666Z,1736357424.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700971 target range: 75.800003 and range: 75.80 m.
2025-01-08T17:30:24.997Z,1736357424.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:25.005Z,1736357425.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.80 m.
2025-01-08T17:30:25.009Z,1736357425.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.800003 m,
      nav range: 74.516792 m,
      bearing: 271.591893 deg,
      approach rate: -0.731696 m/s,
      LOS rate: 0.008221 deg/s,
      cmd heading: 269.345778 deg,
      new cmd heading: 269.354995 deg.

2025-01-08T17:30:25.010Z,1736357425.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701131 target range: 75.800003 and range: 75.80 m.
2025-01-08T17:30:25.423Z,1736357425.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:25.430Z,1736357425.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:25.432Z,1736357425.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.80 m.
2025-01-08T17:30:25.451Z,1736357425.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.800003 m,
      nav range: 74.222771 m,
      bearing: 271.594783 deg,
      approach rate: -0.687886 m/s,
      LOS rate: 0.006789 deg/s,
      cmd heading: 269.354985 deg,
      new cmd heading: 269.363690 deg.

2025-01-08T17:30:25.453Z,1736357425.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701283 target range: 75.800003 and range: 75.80 m.
2025-01-08T17:30:25.492Z,1736357425.492 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:25.492Z,1736357425.492 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:25.493Z,1736357425.493 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:30:25.744Z,1736357425.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751180
2025-01-08T17:30:25.799Z,1736357425.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:25.825Z,1736357425.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.80 m.
2025-01-08T17:30:25.831Z,1736357425.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.800003 m,
      nav range: 73.962463 m,
      bearing: 271.597037 deg,
      approach rate: -0.663963 m/s,
      LOS rate: 0.005769 deg/s,
      cmd heading: 269.363700 deg,
      new cmd heading: 269.370486 deg.

2025-01-08T17:30:25.832Z,1736357425.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701402 target range: 75.800003 and range: 75.80 m.
2025-01-08T17:30:25.996Z,1736357425.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003039
2025-01-08T17:30:26.250Z,1736357426.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256957
2025-01-08T17:30:26.287Z,1736357426.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:26.305Z,1736357426.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.80 m.
2025-01-08T17:30:26.312Z,1736357426.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.800003 m,
      nav range: 73.628754 m,
      bearing: 271.602376 deg,
      approach rate: -0.693968 m/s,
      LOS rate: 0.011152 deg/s,
      cmd heading: 269.370476 deg,
      new cmd heading: 269.386564 deg.

2025-01-08T17:30:26.313Z,1736357426.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701683 target range: 75.800003 and range: 75.80 m.
2025-01-08T17:30:26.500Z,1736357426.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507141
2025-01-08T17:30:26.618Z,1736357426.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:26.629Z,1736357426.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.80 m.
2025-01-08T17:30:26.632Z,1736357426.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.800003 m,
      nav range: 73.397949 m,
      bearing: 271.606081 deg,
      approach rate: -0.714103 m/s,
      LOS rate: 0.011500 deg/s,
      cmd heading: 269.386568 deg,
      new cmd heading: 269.397718 deg.

2025-01-08T17:30:26.633Z,1736357426.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701877 target range: 75.800003 and range: 75.80 m.
2025-01-08T17:30:26.753Z,1736357426.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760332
2025-01-08T17:30:27.004Z,1736357427.004 [DAT](INFO): DAT read: Rx Time:17:30:25.6888

2025-01-08T17:30:27.005Z,1736357427.005 [DAT](INFO): Rx dataTimestamp_ set to:1736357427.004570
2025-01-08T17:30:27.006Z,1736357427.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013031
2025-01-08T17:30:27.053Z,1736357427.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:27.062Z,1736357427.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.80 m.
2025-01-08T17:30:27.065Z,1736357427.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.800003 m,
      nav range: 73.098610 m,
      bearing: 271.610921 deg,
      approach rate: -0.690505 m/s,
      LOS rate: 0.011211 deg/s,
      cmd heading: 269.397715 deg,
      new cmd heading: 269.412295 deg.

2025-01-08T17:30:27.066Z,1736357427.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702132 target range: 75.800003 and range: 75.80 m.
2025-01-08T17:30:27.258Z,1736357427.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264617
2025-01-08T17:30:27.478Z,1736357427.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:27.485Z,1736357427.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:27.487Z,1736357427.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.80 m.
2025-01-08T17:30:27.490Z,1736357427.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.800003 m,
      nav range: 72.812607 m,
      bearing: 271.610060 deg,
      approach rate: -0.673795 m/s,
      LOS rate: -0.002036 deg/s,
      cmd heading: 269.412304 deg,
      new cmd heading: 269.409711 deg.

2025-01-08T17:30:27.492Z,1736357427.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702086 target range: 75.800003 and range: 75.80 m.
2025-01-08T17:30:27.536Z,1736357427.536 [DAT](INFO): DAT read: 17:30:25.6888 LVL= 20864, 28593, 19090, 30179, AGC= 66, IDX= 405,-0.27,-2.589, 2.239,-2.655,-3.005, PHS= 0.504,-0.992, 0.347, RAW= 144.5,   2.0, CAL= 148.0,  -6.8, ROT=   2.0,   6.8

2025-01-08T17:30:27.539Z,1736357427.539 [DAT](INFO): got valid direction response:
 17:30:25.6888 LVL= 20864, 28593, 19090, 30179, AGC= 66, IDX= 405,-0.27,-2.589, 2.239,-2.655,-3.005, PHS= 0.504,-0.992, 0.347, RAW= 144.5,   2.0, CAL= 148.0,  -6.8, ROT=   2.0,   6.8

2025-01-08T17:30:27.561Z,1736357427.561 [DAT](INFO): DAT read: Bearing   2.0,   6.8 (Local)

2025-01-08T17:30:27.561Z,1736357427.561 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.0,   6.8 (Local)

2025-01-08T17:30:27.568Z,1736357427.568 [DAT](INFO): DAT read: Range 10 to 50 : 73.2 m  (Round-trip  97.7 ms) speed  0.5 m/s

2025-01-08T17:30:27.570Z,1736357427.570 [DAT](INFO): DAT read: user:204>

2025-01-08T17:30:27.582Z,1736357427.582 [DAT](INFO): DAT read: Tx time:17:30:26.7870

2025-01-08T17:30:27.582Z,1736357427.582 [DAT](INFO): Ping request sent.
2025-01-08T17:30:27.582Z,1736357427.582 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:30:27.582Z,1736357427.582 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:30:27.599Z,1736357427.599 [DAT](INFO): direction in FSK: [0.992361,0.034654,-0.118404]
2025-01-08T17:30:27.599Z,1736357427.599 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:27.620Z,1736357427.620 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:27.628Z,1736357427.628 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:27.629Z,1736357427.629 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:27.761Z,1736357427.761 [DAT](INFO): DAT read: TxSync time:17:30:26.7862

2025-01-08T17:30:27.832Z,1736357427.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:27.864Z,1736357427.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 73.199997 m,
      deltaT: 3.529674 s,
      deltaX: -2.600006 m,
      approachRate: -0.736614 m/s,
      rangeRepo size: 4

2025-01-08T17:30:27.866Z,1736357427.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 73.199997 m,
      bearing: 272.087733 deg,
      lat: 36.904156 deg,
      lon: -122.119121 deg,
      deltaT: 3.529674 s,
      deltaX: -2.600006 m,
      approachRate: -0.736614 m/s,
      posRepo size: 4

2025-01-08T17:30:27.871Z,1736357427.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m.
2025-01-08T17:30:27.875Z,1736357427.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.199997 m,
      nav range: 72.589569 m,
      bearing: 271.984667 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002036 deg/s,
      cmd heading: 269.409708 deg,
      new cmd heading: 269.407456 deg.

2025-01-08T17:30:27.880Z,1736357427.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702047 target range: 73.199997 and range: 73.20 m.
2025-01-08T17:30:28.255Z,1736357428.255 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:28.265Z,1736357428.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m.
2025-01-08T17:30:28.287Z,1736357428.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.199997 m,
      nav range: 72.306122 m,
      bearing: 271.982075 deg,
      approach rate: -0.694717 m/s,
      LOS rate: -0.006377 deg/s,
      cmd heading: 269.407468 deg,
      new cmd heading: 269.399662 deg.

2025-01-08T17:30:28.288Z,1736357428.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701911 target range: 73.199997 and range: 73.20 m.
2025-01-08T17:30:28.645Z,1736357428.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:28.658Z,1736357428.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m.
2025-01-08T17:30:28.662Z,1736357428.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.199997 m,
      nav range: 72.044380 m,
      bearing: 271.979870 deg,
      approach rate: -0.662355 m/s,
      LOS rate: -0.005600 deg/s,
      cmd heading: 269.399654 deg,
      new cmd heading: 269.393015 deg.

2025-01-08T17:30:28.668Z,1736357428.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701795 target range: 73.199997 and range: 73.20 m.
2025-01-08T17:30:29.041Z,1736357429.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:29.069Z,1736357429.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m.
2025-01-08T17:30:29.073Z,1736357429.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.199997 m,
      nav range: 71.778748 m,
      bearing: 271.977609 deg,
      approach rate: -0.646838 m/s,
      LOS rate: -0.005527 deg/s,
      cmd heading: 269.393015 deg,
      new cmd heading: 269.386207 deg.

2025-01-08T17:30:29.074Z,1736357429.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701676 target range: 73.199997 and range: 73.20 m.
2025-01-08T17:30:29.465Z,1736357429.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:29.474Z,1736357429.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m.
2025-01-08T17:30:29.497Z,1736357429.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.199997 m,
      nav range: 71.494820 m,
      bearing: 271.975420 deg,
      approach rate: -0.701710 m/s,
      LOS rate: -0.005430 deg/s,
      cmd heading: 269.386213 deg,
      new cmd heading: 269.379622 deg.

2025-01-08T17:30:29.498Z,1736357429.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701561 target range: 73.199997 and range: 73.20 m.
2025-01-08T17:30:29.852Z,1736357429.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:29.859Z,1736357429.859 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:29.861Z,1736357429.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m.
2025-01-08T17:30:29.864Z,1736357429.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.199997 m,
      nav range: 71.235161 m,
      bearing: 271.973273 deg,
      approach rate: -0.670736 m/s,
      LOS rate: -0.005566 deg/s,
      cmd heading: 269.379628 deg,
      new cmd heading: 269.373164 deg.

2025-01-08T17:30:29.865Z,1736357429.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701448 target range: 73.199997 and range: 73.20 m.
2025-01-08T17:30:30.028Z,1736357430.028 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:30.028Z,1736357430.028 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:30.029Z,1736357430.029 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:30:30.280Z,1736357430.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.698236
2025-01-08T17:30:30.292Z,1736357430.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:30.320Z,1736357430.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m.
2025-01-08T17:30:30.328Z,1736357430.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.199997 m,
      nav range: 70.944672 m,
      bearing: 271.966593 deg,
      approach rate: -0.632764 m/s,
      LOS rate: -0.014611 deg/s,
      cmd heading: 269.373153 deg,
      new cmd heading: 269.353030 deg.

2025-01-08T17:30:30.329Z,1736357430.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701097 target range: 73.199997 and range: 73.20 m.
2025-01-08T17:30:30.532Z,1736357430.532 [DAT](INFO): DAT read: Rx Time:17:30:29.2858

2025-01-08T17:30:30.533Z,1736357430.533 [DAT](INFO): Rx dataTimestamp_ set to:1736357430.532475
2025-01-08T17:30:30.533Z,1736357430.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.951262
2025-01-08T17:30:30.658Z,1736357430.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:30.702Z,1736357430.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.20 m.
2025-01-08T17:30:30.711Z,1736357430.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.199997 m,
      nav range: 70.697433 m,
      bearing: 271.960888 deg,
      approach rate: -0.647236 m/s,
      LOS rate: -0.014987 deg/s,
      cmd heading: 269.353018 deg,
      new cmd heading: 269.335843 deg.

2025-01-08T17:30:30.714Z,1736357430.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700797 target range: 73.199997 and range: 73.20 m.
2025-01-08T17:30:30.785Z,1736357430.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.203273
2025-01-08T17:30:31.042Z,1736357431.042 [DAT](INFO): DAT read: 17:30:29.2858 LVL= 19760, 25393, 16594, 25715, AGC= 66, IDX= 405, 0.24,-1.730,-3.125,-1.749,-2.173, PHS= 0.532,-0.904, 0.421, RAW= 146.0,  -0.7, CAL= 149.9,  -9.8, ROT=   0.1,   9.8

2025-01-08T17:30:31.044Z,1736357431.044 [DAT](INFO): got valid direction response:
 17:30:29.2858 LVL= 19760, 25393, 16594, 25715, AGC= 66, IDX= 405, 0.24,-1.730,-3.125,-1.749,-2.173, PHS= 0.532,-0.904, 0.421, RAW= 146.0,  -0.7, CAL= 149.9,  -9.8, ROT=   0.1,   9.8

2025-01-08T17:30:31.045Z,1736357431.045 [DAT](INFO): DAT read: Bearing   0.1,   9.8 (Local)

2025-01-08T17:30:31.045Z,1736357431.045 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.1,   9.8 (Local)

2025-01-08T17:30:31.046Z,1736357431.046 [DAT](INFO): DAT read: Range 10 to 50 : 71.0 m  (Round-trip  94.7 ms) speed  0.6 m/s

2025-01-08T17:30:31.047Z,1736357431.047 [DAT](INFO): DAT read: user:205>

2025-01-08T17:30:31.048Z,1736357431.048 [DAT](INFO): DAT read: Tx time:17:30:30.3870

2025-01-08T17:30:31.048Z,1736357431.048 [DAT](INFO): Ping request sent.
2025-01-08T17:30:31.048Z,1736357431.048 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:30:31.049Z,1736357431.049 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:30:31.050Z,1736357431.050 [DAT](INFO): direction in FSK: [0.985406,0.001720,-0.170209]
2025-01-08T17:30:31.050Z,1736357431.050 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:31.050Z,1736357431.050 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:31.053Z,1736357431.053 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:31.054Z,1736357431.054 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:31.082Z,1736357431.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:31.145Z,1736357431.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 71.000000 m,
      deltaT: 3.526292 s,
      deltaX: -2.199997 m,
      approachRate: -0.623884 m/s,
      rangeRepo size: 4

2025-01-08T17:30:31.152Z,1736357431.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 71.000000 m,
      bearing: 270.672425 deg,
      lat: 36.904156 deg,
      lon: -122.119121 deg,
      deltaT: 3.526292 s,
      deltaX: -2.199997 m,
      approachRate: -0.623884 m/s,
      posRepo size: 4

2025-01-08T17:30:31.152Z,1736357431.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-01-08T17:30:31.163Z,1736357431.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.000000 m,
      nav range: 70.414833 m,
      bearing: 271.954166 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014987 deg/s,
      cmd heading: 269.335833 deg,
      new cmd heading: 269.315936 deg.

2025-01-08T17:30:31.168Z,1736357431.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700450 target range: 71.000000 and range: 71.00 m.
2025-01-08T17:30:31.289Z,1736357431.289 [DAT](INFO): DAT read: TxSync time:17:30:30.3862

2025-01-08T17:30:31.548Z,1736357431.548 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,     -389.02651.60,     -100.27,  20.00,873.89
2025-01-08T17:30:31.560Z,1736357431.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-08T17:30:31.560Z,1736357431.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:31.569Z,1736357431.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-01-08T17:30:31.583Z,1736357431.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.000000 m,
      nav range: 70.096489 m,
      bearing: 271.946528 deg,
      approach rate: -0.750606 m/s,
      LOS rate: -0.018090 deg/s,
      cmd heading: 269.315944 deg,
      new cmd heading: 269.292927 deg.

2025-01-08T17:30:31.584Z,1736357431.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700048 target range: 71.000000 and range: 71.00 m.
2025-01-08T17:30:31.924Z,1736357431.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:30:31.925Z,1736357431.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:31.932Z,1736357431.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:31.934Z,1736357431.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-01-08T17:30:31.957Z,1736357431.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.000000 m,
      nav range: 69.853638 m,
      bearing: 271.941049 deg,
      approach rate: -0.664643 m/s,
      LOS rate: -0.015047 deg/s,
      cmd heading: 269.292940 deg,
      new cmd heading: 269.276446 deg.

2025-01-08T17:30:31.958Z,1736357431.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699760 target range: 71.000000 and range: 71.00 m.
2025-01-08T17:30:32.045Z,1736357432.045 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:32.045Z,1736357432.045 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:32.046Z,1736357432.046 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:30:32.296Z,1736357432.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247715
2025-01-08T17:30:32.388Z,1736357432.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:32.400Z,1736357432.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-01-08T17:30:32.403Z,1736357432.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.000000 m,
      nav range: 69.540642 m,
      bearing: 271.928391 deg,
      approach rate: -0.671066 m/s,
      LOS rate: -0.027261 deg/s,
      cmd heading: 269.276438 deg,
      new cmd heading: 269.238293 deg.

2025-01-08T17:30:32.404Z,1736357432.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699095 target range: 71.000000 and range: 71.00 m.
2025-01-08T17:30:32.548Z,1736357432.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499753
2025-01-08T17:30:32.745Z,1736357432.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:32.753Z,1736357432.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-01-08T17:30:32.757Z,1736357432.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.000000 m,
      nav range: 69.298523 m,
      bearing: 271.918975 deg,
      approach rate: -0.685994 m/s,
      LOS rate: -0.026774 deg/s,
      cmd heading: 269.238298 deg,
      new cmd heading: 269.209949 deg.

2025-01-08T17:30:32.758Z,1736357432.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698600 target range: 71.000000 and range: 71.00 m.
2025-01-08T17:30:32.801Z,1736357432.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751997
2025-01-08T17:30:33.053Z,1736357433.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003963
2025-01-08T17:30:33.144Z,1736357433.144 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:33.153Z,1736357433.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-01-08T17:30:33.178Z,1736357433.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.000000 m,
      nav range: 69.028389 m,
      bearing: 271.908017 deg,
      approach rate: -0.675690 m/s,
      LOS rate: -0.027514 deg/s,
      cmd heading: 269.209939 deg,
      new cmd heading: 269.176939 deg.

2025-01-08T17:30:33.186Z,1736357433.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698024 target range: 71.000000 and range: 71.00 m.
2025-01-08T17:30:33.304Z,1736357433.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255795
2025-01-08T17:30:33.557Z,1736357433.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508116
2025-01-08T17:30:33.580Z,1736357433.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:33.588Z,1736357433.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-01-08T17:30:33.592Z,1736357433.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.000000 m,
      nav range: 68.735115 m,
      bearing: 271.898507 deg,
      approach rate: -0.674533 m/s,
      LOS rate: -0.021967 deg/s,
      cmd heading: 269.176936 deg,
      new cmd heading: 269.148283 deg.

2025-01-08T17:30:33.593Z,1736357433.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697524 target range: 71.000000 and range: 71.00 m.
2025-01-08T17:30:33.808Z,1736357433.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759930
2025-01-08T17:30:33.951Z,1736357433.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:33.958Z,1736357433.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:33.961Z,1736357433.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-01-08T17:30:33.980Z,1736357433.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.000000 m,
      nav range: 68.484695 m,
      bearing: 271.890299 deg,
      approach rate: -0.671658 m/s,
      LOS rate: -0.022096 deg/s,
      cmd heading: 269.148276 deg,
      new cmd heading: 269.123561 deg.

2025-01-08T17:30:33.981Z,1736357433.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697092 target range: 71.000000 and range: 71.00 m.
2025-01-08T17:30:34.061Z,1736357434.061 [DAT](INFO): DAT read: Rx Time:17:30:32.8822

2025-01-08T17:30:34.062Z,1736357434.062 [DAT](INFO): Rx dataTimestamp_ set to:1736357434.061391
2025-01-08T17:30:34.063Z,1736357434.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014025
2025-01-08T17:30:34.314Z,1736357434.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265127
2025-01-08T17:30:34.399Z,1736357434.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:34.407Z,1736357434.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-01-08T17:30:34.432Z,1736357434.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.000000 m,
      nav range: 68.187675 m,
      bearing: 271.879252 deg,
      approach rate: -0.665739 m/s,
      LOS rate: -0.024867 deg/s,
      cmd heading: 269.123551 deg,
      new cmd heading: 269.090267 deg.

2025-01-08T17:30:34.433Z,1736357434.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696511 target range: 71.000000 and range: 71.00 m.
2025-01-08T17:30:34.567Z,1736357434.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518095
2025-01-08T17:30:34.763Z,1736357434.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:34.772Z,1736357434.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-01-08T17:30:34.775Z,1736357434.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.000000 m,
      nav range: 67.945740 m,
      bearing: 271.870173 deg,
      approach rate: -0.664190 m/s,
      LOS rate: -0.025015 deg/s,
      cmd heading: 269.090274 deg,
      new cmd heading: 269.062938 deg.

2025-01-08T17:30:34.776Z,1736357434.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696034 target range: 71.000000 and range: 71.00 m.
2025-01-08T17:30:34.828Z,1736357434.828 [DAT](INFO): DAT read: 17:30:32.8822 LVL= 23264, 30801, 21490, 32755, AGC= 64, IDX= 401, 0.08,-3.041, 1.846,-3.092, 2.812, PHS= 0.518,-0.919, 0.376, RAW= 144.9,   0.4, CAL= 148.7,  -8.6, ROT=   1.3,   8.6

2025-01-08T17:30:34.830Z,1736357434.830 [DAT](INFO): got valid direction response:
 17:30:32.8822 LVL= 23264, 30801, 21490, 32755, AGC= 64, IDX= 401, 0.08,-3.041, 1.846,-3.092, 2.812, PHS= 0.518,-0.919, 0.376, RAW= 144.9,   0.4, CAL= 148.7,  -8.6, ROT=   1.3,   8.6

2025-01-08T17:30:34.836Z,1736357434.836 [DAT](INFO): DAT read: Bearing   1.3,   8.6 (Local)

2025-01-08T17:30:34.836Z,1736357434.836 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.3,   8.6 (Local)

2025-01-08T17:30:34.838Z,1736357434.838 [DAT](INFO): DAT read: Range 10 to 50 : 68.3 m  (Round-trip  91.1 ms) speed  0.6 m/s

2025-01-08T17:30:34.844Z,1736357434.844 [DAT](INFO): DAT read: user:206>

2025-01-08T17:30:34.846Z,1736357434.846 [DAT](INFO): DAT read: Tx time:17:30:33.9870

2025-01-08T17:30:34.846Z,1736357434.846 [DAT](INFO): Ping request sent.
2025-01-08T17:30:34.846Z,1736357434.846 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:30:34.847Z,1736357434.847 [DAT](INFO): DAT read: TxSync time:17:30:33.9862

2025-01-08T17:30:34.851Z,1736357434.851 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:30:34.852Z,1736357434.852 [DAT](INFO): direction in FSK: [0.988502,0.022432,-0.149535]
2025-01-08T17:30:34.853Z,1736357434.853 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:34.853Z,1736357434.853 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:34.863Z,1736357434.863 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:34.863Z,1736357434.863 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:35.161Z,1736357435.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:35.194Z,1736357435.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 68.300003 m,
      deltaT: 3.780554 s,
      deltaX: -2.699997 m,
      approachRate: -0.714180 m/s,
      rangeRepo size: 4

2025-01-08T17:30:35.201Z,1736357435.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 68.300003 m,
      bearing: 271.444698 deg,
      lat: 36.904156 deg,
      lon: -122.119122 deg,
      deltaT: 3.780554 s,
      deltaX: -2.699997 m,
      approachRate: -0.714180 m/s,
      posRepo size: 4

2025-01-08T17:30:35.202Z,1736357435.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.30 m.
2025-01-08T17:30:35.209Z,1736357435.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.300003 m,
      nav range: 67.721901 m,
      bearing: 271.859440 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025015 deg/s,
      cmd heading: 269.062926 deg,
      new cmd heading: 269.031222 deg.

2025-01-08T17:30:35.210Z,1736357435.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695481 target range: 68.300003 and range: 68.30 m.
2025-01-08T17:30:35.587Z,1736357435.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:35.597Z,1736357435.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.30 m.
2025-01-08T17:30:35.600Z,1736357435.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.300003 m,
      nav range: 67.444855 m,
      bearing: 271.849445 deg,
      approach rate: -0.687263 m/s,
      LOS rate: -0.024895 deg/s,
      cmd heading: 269.031234 deg,
      new cmd heading: 269.001127 deg.

2025-01-08T17:30:35.601Z,1736357435.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694955 target range: 68.300003 and range: 68.30 m.
2025-01-08T17:30:35.968Z,1736357435.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:35.976Z,1736357435.976 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:35.978Z,1736357435.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.30 m.
2025-01-08T17:30:35.981Z,1736357435.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.300003 m,
      nav range: 67.196747 m,
      bearing: 271.840553 deg,
      approach rate: -0.651209 m/s,
      LOS rate: -0.023425 deg/s,
      cmd heading: 269.001126 deg,
      new cmd heading: 268.974352 deg.

2025-01-08T17:30:35.982Z,1736357435.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694488 target range: 68.300003 and range: 68.30 m.
2025-01-08T17:30:36.077Z,1736357436.077 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:36.077Z,1736357436.077 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:36.077Z,1736357436.077 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:30:36.328Z,1736357436.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482175
2025-01-08T17:30:36.406Z,1736357436.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:36.446Z,1736357436.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.30 m.
2025-01-08T17:30:36.449Z,1736357436.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.300003 m,
      nav range: 66.927742 m,
      bearing: 271.836377 deg,
      approach rate: -0.574598 m/s,
      LOS rate: -0.008956 deg/s,
      cmd heading: 268.974352 deg,
      new cmd heading: 268.961773 deg.

2025-01-08T17:30:36.450Z,1736357436.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694269 target range: 68.300003 and range: 68.30 m.
2025-01-08T17:30:36.581Z,1736357436.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735000
2025-01-08T17:30:36.774Z,1736357436.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:36.807Z,1736357436.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.30 m.
2025-01-08T17:30:36.810Z,1736357436.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.300003 m,
      nav range: 66.700691 m,
      bearing: 271.831884 deg,
      approach rate: -0.635779 m/s,
      LOS rate: -0.012624 deg/s,
      cmd heading: 268.961785 deg,
      new cmd heading: 268.948260 deg.

2025-01-08T17:30:36.811Z,1736357436.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694033 target range: 68.300003 and range: 68.30 m.
2025-01-08T17:30:36.832Z,1736357436.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986208
2025-01-08T17:30:37.084Z,1736357437.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238280
2025-01-08T17:30:37.185Z,1736357437.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:37.198Z,1736357437.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.30 m.
2025-01-08T17:30:37.205Z,1736357437.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.300003 m,
      nav range: 66.448380 m,
      bearing: 271.826565 deg,
      approach rate: -0.638814 m/s,
      LOS rate: -0.013518 deg/s,
      cmd heading: 268.948261 deg,
      new cmd heading: 268.932244 deg.

2025-01-08T17:30:37.207Z,1736357437.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693753 target range: 68.300003 and range: 68.30 m.
2025-01-08T17:30:37.337Z,1736357437.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490963
2025-01-08T17:30:37.589Z,1736357437.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742438
2025-01-08T17:30:37.612Z,1736357437.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:37.641Z,1736357437.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.30 m.
2025-01-08T17:30:37.647Z,1736357437.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.300003 m,
      nav range: 66.195107 m,
      bearing: 271.821764 deg,
      approach rate: -0.572405 m/s,
      LOS rate: -0.010893 deg/s,
      cmd heading: 268.932251 deg,
      new cmd heading: 268.917792 deg.

2025-01-08T17:30:37.648Z,1736357437.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693501 target range: 68.300003 and range: 68.30 m.
2025-01-08T17:30:37.843Z,1736357437.843 [DAT](INFO): DAT read: Rx Time:17:30:36.4791

2025-01-08T17:30:37.844Z,1736357437.844 [DAT](INFO): Rx dataTimestamp_ set to:1736357437.843513
2025-01-08T17:30:37.844Z,1736357437.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998243
2025-01-08T17:30:37.988Z,1736357437.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:37.996Z,1736357437.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:37.998Z,1736357437.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.30 m.
2025-01-08T17:30:38.021Z,1736357438.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.300003 m,
      nav range: 65.972130 m,
      bearing: 271.817304 deg,
      approach rate: -0.624023 m/s,
      LOS rate: -0.012523 deg/s,
      cmd heading: 268.917798 deg,
      new cmd heading: 268.904374 deg.

2025-01-08T17:30:38.022Z,1736357438.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693267 target range: 68.300003 and range: 68.30 m.
2025-01-08T17:30:38.093Z,1736357438.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246456
2025-01-08T17:30:38.350Z,1736357438.350 [DAT](INFO): DAT read: 17:30:36.4791 LVL= 26160, 31169, 21826, 31603, AGC= 66, IDX= 416, 0.16,-0.792,-2.302,-0.816,-1.258, PHS= 0.554,-0.997, 0.439, RAW= 146.2,   0.0, CAL= 149.9,  -8.9, ROT=   0.1,   8.9

2025-01-08T17:30:38.352Z,1736357438.352 [DAT](INFO): got valid direction response:
 17:30:36.4791 LVL= 26160, 31169, 21826, 31603, AGC= 66, IDX= 416, 0.16,-0.792,-2.302,-0.816,-1.258, PHS= 0.554,-0.997, 0.439, RAW= 146.2,   0.0, CAL= 149.9,  -8.9, ROT=   0.1,   8.9

2025-01-08T17:30:38.353Z,1736357438.353 [DAT](INFO): DAT read: Bearing   0.1,   8.9 (Local)

2025-01-08T17:30:38.354Z,1736357438.354 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.1,   8.9 (Local)

2025-01-08T17:30:38.357Z,1736357438.357 [DAT](INFO): DAT read: Range 10 to 50 : 65.8 m  (Round-trip  87.8 ms) speed  0.4 m/s

2025-01-08T17:30:38.357Z,1736357438.357 [DAT](INFO): DAT read: user:207>

2025-01-08T17:30:38.358Z,1736357438.358 [DAT](INFO): DAT read: Tx time:17:30:37.5871

2025-01-08T17:30:38.358Z,1736357438.358 [DAT](INFO): Ping request sent.
2025-01-08T17:30:38.358Z,1736357438.358 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:30:38.359Z,1736357438.359 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:30:38.360Z,1736357438.360 [DAT](INFO): direction in FSK: [0.987958,0.001724,-0.154710]
2025-01-08T17:30:38.360Z,1736357438.360 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:38.360Z,1736357438.360 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:38.372Z,1736357438.372 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:38.373Z,1736357438.373 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:38.521Z,1736357438.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:38.564Z,1736357438.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 65.800003 m,
      deltaT: 3.527741 s,
      deltaX: -2.500000 m,
      approachRate: -0.708669 m/s,
      rangeRepo size: 4

2025-01-08T17:30:38.566Z,1736357438.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 65.800003 m,
      bearing: 270.714680 deg,
      lat: 36.904152 deg,
      lon: -122.119121 deg,
      deltaT: 3.527741 s,
      deltaX: -2.500000 m,
      approachRate: -0.708669 m/s,
      posRepo size: 4

2025-01-08T17:30:38.571Z,1736357438.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.80 m.
2025-01-08T17:30:38.575Z,1736357438.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.800003 m,
      nav range: 65.601952 m,
      bearing: 271.385251 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012523 deg/s,
      cmd heading: 268.904384 deg,
      new cmd heading: 268.883296 deg.

2025-01-08T17:30:38.580Z,1736357438.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692899 target range: 65.800003 and range: 65.80 m.
2025-01-08T17:30:38.597Z,1736357438.597 [DAT](INFO): DAT read: TxSync time:17:30:37.5863

2025-01-08T17:30:38.878Z,1736357438.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:38.886Z,1736357438.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.80 m.
2025-01-08T17:30:38.890Z,1736357438.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.800003 m,
      nav range: 65.389938 m,
      bearing: 271.380203 deg,
      approach rate: -0.648767 m/s,
      LOS rate: -0.015497 deg/s,
      cmd heading: 268.883292 deg,
      new cmd heading: 268.868099 deg.

2025-01-08T17:30:38.891Z,1736357438.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692634 target range: 65.800003 and range: 65.80 m.
2025-01-08T17:30:39.273Z,1736357439.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:39.286Z,1736357439.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.80 m.
2025-01-08T17:30:39.290Z,1736357439.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.800003 m,
      nav range: 65.155373 m,
      bearing: 271.375110 deg,
      approach rate: -0.585891 m/s,
      LOS rate: -0.012768 deg/s,
      cmd heading: 268.868102 deg,
      new cmd heading: 268.852767 deg.

2025-01-08T17:30:39.291Z,1736357439.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692366 target range: 65.800003 and range: 65.80 m.
2025-01-08T17:30:39.709Z,1736357439.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:39.725Z,1736357439.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.80 m.
2025-01-08T17:30:39.727Z,1736357439.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.800003 m,
      nav range: 64.894737 m,
      bearing: 271.369986 deg,
      approach rate: -0.594664 m/s,
      LOS rate: -0.011737 deg/s,
      cmd heading: 268.852775 deg,
      new cmd heading: 268.837343 deg.

2025-01-08T17:30:39.728Z,1736357439.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692097 target range: 65.800003 and range: 65.80 m.
2025-01-08T17:30:40.076Z,1736357440.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:40.083Z,1736357440.083 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:40.102Z,1736357440.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.80 m.
2025-01-08T17:30:40.105Z,1736357440.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.800003 m,
      nav range: 64.674873 m,
      bearing: 271.365323 deg,
      approach rate: -0.582989 m/s,
      LOS rate: -0.012406 deg/s,
      cmd heading: 268.837339 deg,
      new cmd heading: 268.823303 deg.

2025-01-08T17:30:40.106Z,1736357440.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691852 target range: 65.800003 and range: 65.80 m.
2025-01-08T17:30:40.108Z,1736357440.108 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:40.108Z,1736357440.108 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:40.109Z,1736357440.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:30:40.362Z,1736357440.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004084
2025-01-08T17:30:40.400Z,1736357440.400 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:30:40.507Z,1736357440.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:40.540Z,1736357440.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.80 m.
2025-01-08T17:30:40.543Z,1736357440.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.800003 m,
      nav range: 64.408203 m,
      bearing: 271.358174 deg,
      approach rate: -0.608450 m/s,
      LOS rate: -0.016380 deg/s,
      cmd heading: 268.823296 deg,
      new cmd heading: 268.801759 deg.

2025-01-08T17:30:40.548Z,1736357440.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691476 target range: 65.800003 and range: 65.80 m.
2025-01-08T17:30:40.613Z,1736357440.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254538
2025-01-08T17:30:40.864Z,1736357440.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505977
2025-01-08T17:30:40.896Z,1736357440.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:40.905Z,1736357440.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.80 m.
2025-01-08T17:30:40.908Z,1736357440.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.800003 m,
      nav range: 64.166954 m,
      bearing: 271.351281 deg,
      approach rate: -0.661248 m/s,
      LOS rate: -0.018964 deg/s,
      cmd heading: 268.801767 deg,
      new cmd heading: 268.781010 deg.

2025-01-08T17:30:40.909Z,1736357440.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691113 target range: 65.800003 and range: 65.80 m.
2025-01-08T17:30:41.116Z,1736357441.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757785
2025-01-08T17:30:41.292Z,1736357441.292 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:41.301Z,1736357441.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.80 m.
2025-01-08T17:30:41.304Z,1736357441.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.800003 m,
      nav range: 63.921268 m,
      bearing: 271.343995 deg,
      approach rate: -0.620299 m/s,
      LOS rate: -0.018466 deg/s,
      cmd heading: 268.781003 deg,
      new cmd heading: 268.759061 deg.

2025-01-08T17:30:41.325Z,1736357441.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690731 target range: 65.800003 and range: 65.80 m.
2025-01-08T17:30:41.374Z,1736357441.374 [DAT](INFO): DAT read: Rx Time:17:30:40.0767

2025-01-08T17:30:41.389Z,1736357441.389 [DAT](INFO): Rx dataTimestamp_ set to:1736357441.374909
2025-01-08T17:30:41.392Z,1736357441.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032436
2025-01-08T17:30:41.404Z,1736357441.404 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:30:41.622Z,1736357441.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263050
2025-01-08T17:30:41.733Z,1736357441.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:41.743Z,1736357441.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.80 m.
2025-01-08T17:30:41.746Z,1736357441.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.800003 m,
      nav range: 63.635433 m,
      bearing: 271.332587 deg,
      approach rate: -0.646644 m/s,
      LOS rate: -0.025924 deg/s,
      cmd heading: 268.759065 deg,
      new cmd heading: 268.724687 deg.

2025-01-08T17:30:41.747Z,1736357441.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690131 target range: 65.800003 and range: 65.80 m.
2025-01-08T17:30:41.879Z,1736357441.879 [DAT](INFO): DAT read: 17:30:40.0767 LVL= 22096, 25409, 18130, 28755, AGC= 64, IDX= 424,-0.45,-1.467,-2.867,-1.500,-1.916, PHS= 0.538,-0.904, 0.413, RAW= 145.5,  -0.7, CAL= 149.5,  -9.7, ROT=   0.5,   9.7

2025-01-08T17:30:41.881Z,1736357441.881 [DAT](INFO): got valid direction response:
 17:30:40.0767 LVL= 22096, 25409, 18130, 28755, AGC= 64, IDX= 424,-0.45,-1.467,-2.867,-1.500,-1.916, PHS= 0.538,-0.904, 0.413, RAW= 145.5,  -0.7, CAL= 149.5,  -9.7, ROT=   0.5,   9.7

2025-01-08T17:30:41.882Z,1736357441.882 [DAT](INFO): DAT read: Bearing   0.5,   9.7 (Local)

2025-01-08T17:30:41.882Z,1736357441.882 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.5,   9.7 (Local)

2025-01-08T17:30:41.884Z,1736357441.884 [DAT](INFO): DAT read: Range 10 to 50 : 64.1 m  (Round-trip  85.5 ms) speed  0.5 m/s

2025-01-08T17:30:41.884Z,1736357441.884 [DAT](INFO): DAT read: user:208>

2025-01-08T17:30:41.885Z,1736357441.885 [DAT](INFO): DAT read: Tx time:17:30:41.1871

2025-01-08T17:30:41.885Z,1736357441.885 [DAT](INFO): Ping request sent.
2025-01-08T17:30:41.885Z,1736357441.885 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:30:41.886Z,1736357441.886 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:30:41.887Z,1736357441.887 [DAT](INFO): direction in FSK: [0.985666,0.008602,-0.168489]
2025-01-08T17:30:41.887Z,1736357441.887 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:41.888Z,1736357441.888 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:41.892Z,1736357441.892 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:41.892Z,1736357441.892 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:42.112Z,1736357442.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:42.126Z,1736357442.126 [DAT](INFO): DAT read: TxSync time:17:30:41.1863

2025-01-08T17:30:42.131Z,1736357442.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.099998 m,
      deltaT: 3.528520 s,
      deltaX: -1.700005 m,
      approachRate: -0.481790 m/s,
      rangeRepo size: 4

2025-01-08T17:30:42.133Z,1736357442.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.099998 m,
      bearing: 271.361642 deg,
      lat: 36.904152 deg,
      lon: -122.119120 deg,
      deltaT: 3.528520 s,
      deltaX: -1.700005 m,
      approachRate: -0.481790 m/s,
      posRepo size: 4

2025-01-08T17:30:42.134Z,1736357442.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m.
2025-01-08T17:30:42.136Z,1736357442.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.099998 m,
      nav range: 63.288025 m,
      bearing: 271.324768 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025924 deg/s,
      cmd heading: 268.724695 deg,
      new cmd heading: 268.694594 deg.

2025-01-08T17:30:42.137Z,1736357442.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689605 target range: 64.099998 and range: 64.10 m.
2025-01-08T17:30:42.539Z,1736357442.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:42.545Z,1736357442.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:42.548Z,1736357442.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m.
2025-01-08T17:30:42.550Z,1736357442.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.099998 m,
      nav range: 62.991627 m,
      bearing: 271.312145 deg,
      approach rate: -0.709783 m/s,
      LOS rate: -0.030370 deg/s,
      cmd heading: 268.694588 deg,
      new cmd heading: 268.656541 deg.

2025-01-08T17:30:42.552Z,1736357442.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688941 target range: 64.099998 and range: 64.10 m.
2025-01-08T17:30:42.629Z,1736357442.629 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:42.629Z,1736357442.629 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:42.630Z,1736357442.630 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:30:42.880Z,1736357442.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994811
2025-01-08T17:30:42.906Z,1736357442.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:42.915Z,1736357442.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m.
2025-01-08T17:30:42.918Z,1736357442.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.099998 m,
      nav range: 62.735905 m,
      bearing: 271.301594 deg,
      approach rate: -0.695905 m/s,
      LOS rate: -0.028830 deg/s,
      cmd heading: 268.656530 deg,
      new cmd heading: 268.624747 deg.

2025-01-08T17:30:42.919Z,1736357442.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688386 target range: 64.099998 and range: 64.10 m.
2025-01-08T17:30:43.135Z,1736357443.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249894
2025-01-08T17:30:43.316Z,1736357443.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:43.327Z,1736357443.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m.
2025-01-08T17:30:43.336Z,1736357443.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.099998 m,
      nav range: 62.451378 m,
      bearing: 271.290730 deg,
      approach rate: -0.692385 m/s,
      LOS rate: -0.026557 deg/s,
      cmd heading: 268.624756 deg,
      new cmd heading: 268.592015 deg.

2025-01-08T17:30:43.340Z,1736357443.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687815 target range: 64.099998 and range: 64.10 m.
2025-01-08T17:30:43.388Z,1736357443.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501695
2025-01-08T17:30:43.638Z,1736357443.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752584
2025-01-08T17:30:43.746Z,1736357443.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:43.754Z,1736357443.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m.
2025-01-08T17:30:43.774Z,1736357443.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.099998 m,
      nav range: 62.134918 m,
      bearing: 271.277580 deg,
      approach rate: -0.738941 m/s,
      LOS rate: -0.030862 deg/s,
      cmd heading: 268.592025 deg,
      new cmd heading: 268.552375 deg.

2025-01-08T17:30:43.780Z,1736357443.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687123 target range: 64.099998 and range: 64.10 m.
2025-01-08T17:30:43.889Z,1736357443.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003838
2025-01-08T17:30:44.135Z,1736357444.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:44.140Z,1736357444.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254986
2025-01-08T17:30:44.146Z,1736357444.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m.
2025-01-08T17:30:44.149Z,1736357444.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.099998 m,
      nav range: 61.848347 m,
      bearing: 271.265556 deg,
      approach rate: -0.731137 m/s,
      LOS rate: -0.030820 deg/s,
      cmd heading: 268.552383 deg,
      new cmd heading: 268.516143 deg.

2025-01-08T17:30:44.150Z,1736357444.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686491 target range: 64.099998 and range: 64.10 m.
2025-01-08T17:30:44.396Z,1736357444.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509502
2025-01-08T17:30:44.552Z,1736357444.552 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:44.562Z,1736357444.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:44.588Z,1736357444.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m.
2025-01-08T17:30:44.595Z,1736357444.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.099998 m,
      nav range: 61.528164 m,
      bearing: 271.249958 deg,
      approach rate: -0.725088 m/s,
      LOS rate: -0.035508 deg/s,
      cmd heading: 268.516156 deg,
      new cmd heading: 268.469117 deg.

2025-01-08T17:30:44.597Z,1736357444.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685670 target range: 64.099998 and range: 64.10 m.
2025-01-08T17:30:44.644Z,1736357444.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759025
2025-01-08T17:30:44.896Z,1736357444.896 [DAT](INFO): DAT read: Rx Time:17:30:43.6735

2025-01-08T17:30:44.897Z,1736357444.897 [DAT](INFO): Rx dataTimestamp_ set to:1736357444.896444
2025-01-08T17:30:44.897Z,1736357444.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011877
2025-01-08T17:30:44.934Z,1736357444.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:44.960Z,1736357444.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m.
2025-01-08T17:30:44.962Z,1736357444.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.099998 m,
      nav range: 61.234962 m,
      bearing: 271.235678 deg,
      approach rate: -0.798690 m/s,
      LOS rate: -0.039085 deg/s,
      cmd heading: 268.469109 deg,
      new cmd heading: 268.426065 deg.

2025-01-08T17:30:44.968Z,1736357444.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.684918 target range: 64.099998 and range: 64.10 m.
2025-01-08T17:30:45.148Z,1736357445.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262934
2025-01-08T17:30:45.335Z,1736357445.335 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:45.344Z,1736357445.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.10 m.
2025-01-08T17:30:45.347Z,1736357445.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.099998 m,
      nav range: 60.927021 m,
      bearing: 271.221075 deg,
      approach rate: -0.790899 m/s,
      LOS rate: -0.037694 deg/s,
      cmd heading: 268.426052 deg,
      new cmd heading: 268.382023 deg.

2025-01-08T17:30:45.350Z,1736357445.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.684150 target range: 64.099998 and range: 64.10 m.
2025-01-08T17:30:45.457Z,1736357445.457 [DAT](INFO): DAT read: 17:30:43.6735 LVL= 19488, 26321, 16370, 28563, AGC= 66, IDX= 406, 0.39,-1.090,-2.567,-1.159,-1.556, PHS= 0.555,-0.964, 0.394, RAW= 144.5,   0.2, CAL= 148.4,  -8.8, ROT=   1.6,   8.8

2025-01-08T17:30:45.458Z,1736357445.458 [DAT](INFO): got valid direction response:
 17:30:43.6735 LVL= 19488, 26321, 16370, 28563, AGC= 66, IDX= 406, 0.39,-1.090,-2.567,-1.159,-1.556, PHS= 0.555,-0.964, 0.394, RAW= 144.5,   0.2, CAL= 148.4,  -8.8, ROT=   1.6,   8.8

2025-01-08T17:30:45.459Z,1736357445.459 [DAT](INFO): DAT read: Bearing   1.6,   8.8 (Local)

2025-01-08T17:30:45.467Z,1736357445.467 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6,   8.8 (Local)

2025-01-08T17:30:45.469Z,1736357445.469 [DAT](INFO): DAT read: Range 10 to 50 : 61.7 m  (Round-trip  82.3 ms) speed  0.6 m/s

2025-01-08T17:30:45.470Z,1736357445.470 [DAT](INFO): DAT read: user:209>

2025-01-08T17:30:45.470Z,1736357445.470 [DAT](INFO): DAT read: Tx time:17:30:44.7871

2025-01-08T17:30:45.471Z,1736357445.471 [DAT](INFO): Ping request sent.
2025-01-08T17:30:45.471Z,1736357445.471 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:30:45.480Z,1736357445.480 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:30:45.481Z,1736357445.481 [DAT](INFO): direction in FSK: [0.987843,0.027593,-0.152986]
2025-01-08T17:30:45.481Z,1736357445.481 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:45.482Z,1736357445.482 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:45.493Z,1736357445.493 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:45.493Z,1736357445.493 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:45.653Z,1736357445.653 [DAT](INFO): DAT read: TxSync time:17:30:44.7863

2025-01-08T17:30:45.816Z,1736357445.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:45.847Z,1736357445.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.700001 m,
      deltaT: 3.530019 s,
      deltaX: -2.399998 m,
      approachRate: -0.679882 m/s,
      rangeRepo size: 4

2025-01-08T17:30:45.853Z,1736357445.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.700001 m,
      bearing: 271.530493 deg,
      lat: 36.904152 deg,
      lon: -122.119120 deg,
      deltaT: 3.530019 s,
      deltaX: -2.399998 m,
      approachRate: -0.679882 m/s,
      posRepo size: 4

2025-01-08T17:30:45.854Z,1736357445.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-01-08T17:30:45.861Z,1736357445.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.700001 m,
      nav range: 60.570572 m,
      bearing: 271.205330 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037694 deg/s,
      cmd heading: 268.382011 deg,
      new cmd heading: 268.325250 deg.

2025-01-08T17:30:45.862Z,1736357445.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683159 target range: 61.700001 and range: 61.70 m.
2025-01-08T17:30:46.148Z,1736357446.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:46.162Z,1736357446.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-01-08T17:30:46.165Z,1736357446.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.700001 m,
      nav range: 60.325073 m,
      bearing: 271.195317 deg,
      approach rate: -0.776553 m/s,
      LOS rate: -0.031804 deg/s,
      cmd heading: 268.325238 deg,
      new cmd heading: 268.295075 deg.

2025-01-08T17:30:46.166Z,1736357446.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682632 target range: 61.700001 and range: 61.70 m.
2025-01-08T17:30:46.564Z,1736357446.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:46.571Z,1736357446.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:46.576Z,1736357446.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-01-08T17:30:46.597Z,1736357446.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.700001 m,
      nav range: 60.008045 m,
      bearing: 271.186520 deg,
      approach rate: -0.768708 m/s,
      LOS rate: -0.021443 deg/s,
      cmd heading: 268.295076 deg,
      new cmd heading: 268.268545 deg.

2025-01-08T17:30:46.600Z,1736357446.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682169 target range: 61.700001 and range: 61.70 m.
2025-01-08T17:30:46.661Z,1736357446.661 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:46.662Z,1736357446.662 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:46.662Z,1736357446.662 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:30:46.912Z,1736357446.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.441431
2025-01-08T17:30:46.977Z,1736357446.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:46.985Z,1736357446.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-01-08T17:30:46.989Z,1736357446.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.700001 m,
      nav range: 59.694000 m,
      bearing: 271.179020 deg,
      approach rate: -0.764729 m/s,
      LOS rate: -0.018359 deg/s,
      cmd heading: 268.268548 deg,
      new cmd heading: 268.245930 deg.

2025-01-08T17:30:46.990Z,1736357446.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681775 target range: 61.700001 and range: 61.70 m.
2025-01-08T17:30:47.166Z,1736357447.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.694682
2025-01-08T17:30:47.360Z,1736357447.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:47.368Z,1736357447.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-01-08T17:30:47.371Z,1736357447.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.700001 m,
      nav range: 59.403103 m,
      bearing: 271.172404 deg,
      approach rate: -0.759501 m/s,
      LOS rate: -0.017359 deg/s,
      cmd heading: 268.245926 deg,
      new cmd heading: 268.225980 deg.

2025-01-08T17:30:47.373Z,1736357447.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681427 target range: 61.700001 and range: 61.70 m.
2025-01-08T17:30:47.420Z,1736357447.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.948503
2025-01-08T17:30:47.670Z,1736357447.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.199157
2025-01-08T17:30:47.798Z,1736357447.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:47.816Z,1736357447.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-01-08T17:30:47.818Z,1736357447.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.700001 m,
      nav range: 59.085899 m,
      bearing: 271.166561 deg,
      approach rate: -0.715890 m/s,
      LOS rate: -0.013258 deg/s,
      cmd heading: 268.225982 deg,
      new cmd heading: 268.208359 deg.

2025-01-08T17:30:47.824Z,1736357447.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681119 target range: 61.700001 and range: 61.70 m.
2025-01-08T17:30:47.920Z,1736357447.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.449445
2025-01-08T17:30:48.173Z,1736357448.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.702272
2025-01-08T17:30:48.178Z,1736357448.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:48.186Z,1736357448.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-01-08T17:30:48.190Z,1736357448.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.700001 m,
      nav range: 58.811687 m,
      bearing: 271.161459 deg,
      approach rate: -0.731503 m/s,
      LOS rate: -0.013673 deg/s,
      cmd heading: 268.208360 deg,
      new cmd heading: 268.192983 deg.

2025-01-08T17:30:48.192Z,1736357448.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680851 target range: 61.700001 and range: 61.70 m.
2025-01-08T17:30:48.428Z,1736357448.428 [DAT](INFO): DAT read: Rx Time:17:30:47.2693

2025-01-08T17:30:48.429Z,1736357448.429 [DAT](INFO): Rx dataTimestamp_ set to:1736357448.428301
2025-01-08T17:30:48.437Z,1736357448.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959815
2025-01-08T17:30:48.586Z,1736357448.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:48.593Z,1736357448.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:48.616Z,1736357448.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-01-08T17:30:48.628Z,1736357448.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.700001 m,
      nav range: 58.534012 m,
      bearing: 271.160741 deg,
      approach rate: -0.678870 m/s,
      LOS rate: -0.001762 deg/s,
      cmd heading: 268.192979 deg,
      new cmd heading: 268.190816 deg.

2025-01-08T17:30:48.629Z,1736357448.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680813 target range: 61.700001 and range: 61.70 m.
2025-01-08T17:30:48.678Z,1736357448.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.206425
2025-01-08T17:30:48.928Z,1736357448.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.457452
2025-01-08T17:30:49.018Z,1736357449.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:49.028Z,1736357449.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.70 m.
2025-01-08T17:30:49.031Z,1736357449.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.700001 m,
      nav range: 58.240448 m,
      bearing: 271.159910 deg,
      approach rate: -0.678218 m/s,
      LOS rate: -0.001931 deg/s,
      cmd heading: 268.190820 deg,
      new cmd heading: 268.188313 deg.

2025-01-08T17:30:49.032Z,1736357449.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680769 target range: 61.700001 and range: 61.70 m.
2025-01-08T17:30:49.186Z,1736357449.186 [DAT](INFO): DAT read: 17:30:47.2693 LVL= 18832, 31953, 18706, 30755, AGC= 64, IDX= 396,-0.37, 3.016, 1.592, 2.930, 2.583, PHS= 0.521,-0.944, 0.343, RAW= 143.6,   1.2, CAL= 147.4,  -7.7, ROT=   2.6,   7.7

2025-01-08T17:30:49.188Z,1736357449.188 [DAT](INFO): got valid direction response:
 17:30:47.2693 LVL= 18832, 31953, 18706, 30755, AGC= 64, IDX= 396,-0.37, 3.016, 1.592, 2.930, 2.583, PHS= 0.521,-0.944, 0.343, RAW= 143.6,   1.2, CAL= 147.4,  -7.7, ROT=   2.6,   7.7

2025-01-08T17:30:49.189Z,1736357449.189 [DAT](INFO): DAT read: Bearing   2.6,   7.7 (Local)

2025-01-08T17:30:49.190Z,1736357449.190 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.6,   7.7 (Local)

2025-01-08T17:30:49.192Z,1736357449.192 [DAT](INFO): DAT read: Range 10 to 50 : 58.5 m  (Round-trip  78.1 ms) speed  0.7 m/s

2025-01-08T17:30:49.192Z,1736357449.192 [DAT](INFO): DAT read: user:210>

2025-01-08T17:30:49.193Z,1736357449.193 [DAT](INFO): DAT read: Tx time:17:30:48.3871

2025-01-08T17:30:49.193Z,1736357449.193 [DAT](INFO): Ping request sent.
2025-01-08T17:30:49.193Z,1736357449.193 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:30:49.194Z,1736357449.194 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:30:49.195Z,1736357449.195 [DAT](INFO): direction in FSK: [0.989963,0.044954,-0.133986]
2025-01-08T17:30:49.195Z,1736357449.195 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:49.195Z,1736357449.195 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:49.198Z,1736357449.198 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:49.198Z,1736357449.198 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:49.379Z,1736357449.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:49.411Z,1736357449.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.500000 m,
      deltaT: 3.777498 s,
      deltaX: -3.200001 m,
      approachRate: -0.847122 m/s,
      rangeRepo size: 4

2025-01-08T17:30:49.414Z,1736357449.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.500000 m,
      bearing: 271.500144 deg,
      lat: 36.904152 deg,
      lon: -122.119122 deg,
      deltaT: 3.777498 s,
      deltaX: -3.200001 m,
      approachRate: -0.847122 m/s,
      posRepo size: 4

2025-01-08T17:30:49.414Z,1736357449.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.50 m.
2025-01-08T17:30:49.415Z,1736357449.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-01-08T17:30:49.430Z,1736357449.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.500000 m,
      nav range: 58.115768 m,
      bearing: 271.197390 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001931 deg/s,
      cmd heading: 268.188307 deg,
      new cmd heading: 268.186139 deg.

2025-01-08T17:30:49.433Z,1736357449.433 [DAT](INFO): DAT read: TxSync time:17:30:48.3864

2025-01-08T17:30:49.437Z,1736357449.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680731 target range: 58.500000 and range: 58.50 m.
2025-01-08T17:30:49.517Z,1736357449.517 [DockingStepper](INFO): Changing to mode: 2
2025-01-08T17:30:49.517Z,1736357449.517 [DockingStepper](INFO): Armed mode.
2025-01-08T17:30:49.583Z,1736357449.583 [DockingStepper](INFO): Commanding negative:54297
2025-01-08T17:30:49.834Z,1736357449.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:49.843Z,1736357449.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.50 m.
2025-01-08T17:30:49.844Z,1736357449.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-01-08T17:30:49.847Z,1736357449.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.500000 m,
      nav range: 57.833778 m,
      bearing: 271.195932 deg,
      approach rate: -0.639667 m/s,
      LOS rate: -0.003322 deg/s,
      cmd heading: 268.186148 deg,
      new cmd heading: 268.181755 deg.

2025-01-08T17:30:49.848Z,1736357449.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680655 target range: 58.500000 and range: 58.50 m.
2025-01-08T17:30:50.215Z,1736357450.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:50.225Z,1736357450.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.50 m.
2025-01-08T17:30:50.225Z,1736357450.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-01-08T17:30:50.229Z,1736357450.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.500000 m,
      nav range: 57.597916 m,
      bearing: 271.195022 deg,
      approach rate: -0.618003 m/s,
      LOS rate: -0.002394 deg/s,
      cmd heading: 268.181750 deg,
      new cmd heading: 268.179009 deg.

2025-01-08T17:30:50.230Z,1736357450.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680607 target range: 58.500000 and range: 58.50 m.
2025-01-08T17:30:50.662Z,1736357450.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:50.669Z,1736357450.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:50.671Z,1736357450.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.50 m.
2025-01-08T17:30:50.688Z,1736357450.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-01-08T17:30:50.694Z,1736357450.694 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:50.694Z,1736357450.694 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:50.695Z,1736357450.695 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:30:50.702Z,1736357450.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.500000 m,
      nav range: 57.339359 m,
      bearing: 271.197422 deg,
      approach rate: -0.580126 m/s,
      LOS rate: 0.005408 deg/s,
      cmd heading: 268.179018 deg,
      new cmd heading: 268.186249 deg.

2025-01-08T17:30:50.708Z,1736357450.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680733 target range: 58.500000 and range: 58.50 m.
2025-01-08T17:30:50.947Z,1736357450.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753708
2025-01-08T17:30:51.028Z,1736357451.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:51.036Z,1736357451.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.50 m.
2025-01-08T17:30:51.036Z,1736357451.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-01-08T17:30:51.041Z,1736357451.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.500000 m,
      nav range: 57.127628 m,
      bearing: 271.198542 deg,
      approach rate: -0.579383 m/s,
      LOS rate: 0.003077 deg/s,
      cmd heading: 268.186258 deg,
      new cmd heading: 268.189631 deg.

2025-01-08T17:30:51.042Z,1736357451.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680792 target range: 58.500000 and range: 58.50 m.
2025-01-08T17:30:51.196Z,1736357451.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002848
2025-01-08T17:30:51.440Z,1736357451.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:51.448Z,1736357451.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254914
2025-01-08T17:30:51.469Z,1736357451.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.50 m.
2025-01-08T17:30:51.470Z,1736357451.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-01-08T17:30:51.491Z,1736357451.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.500000 m,
      nav range: 56.889126 m,
      bearing: 271.199103 deg,
      approach rate: -0.550404 m/s,
      LOS rate: 0.001300 deg/s,
      cmd heading: 268.189618 deg,
      new cmd heading: 268.191309 deg.

2025-01-08T17:30:51.501Z,1736357451.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680821 target range: 58.500000 and range: 58.50 m.
2025-01-08T17:30:51.701Z,1736357451.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507475
2025-01-08T17:30:51.952Z,1736357451.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758802
2025-01-08T17:30:51.970Z,1736357451.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:51.995Z,1736357451.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.50 m.
2025-01-08T17:30:51.996Z,1736357451.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-01-08T17:30:51.999Z,1736357451.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.500000 m,
      nav range: 56.597847 m,
      bearing: 271.199985 deg,
      approach rate: -0.571349 m/s,
      LOS rate: 0.001737 deg/s,
      cmd heading: 268.191312 deg,
      new cmd heading: 268.193969 deg.

2025-01-08T17:30:52.016Z,1736357452.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680868 target range: 58.500000 and range: 58.50 m.
2025-01-08T17:30:52.204Z,1736357452.204 [DAT](INFO): DAT read: Rx Time:17:30:50.8662

2025-01-08T17:30:52.206Z,1736357452.206 [DAT](INFO): Rx dataTimestamp_ set to:1736357452.205228
2025-01-08T17:30:52.206Z,1736357452.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012641
2025-01-08T17:30:52.347Z,1736357452.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:52.390Z,1736357452.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.50 m.
2025-01-08T17:30:52.390Z,1736357452.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m.
2025-01-08T17:30:52.397Z,1736357452.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.500000 m,
      nav range: 56.390995 m,
      bearing: 271.200126 deg,
      approach rate: -0.503759 m/s,
      LOS rate: 0.000345 deg/s,
      cmd heading: 268.193962 deg,
      new cmd heading: 268.194387 deg.

2025-01-08T17:30:52.398Z,1736357452.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680875 target range: 58.500000 and range: 58.50 m.
2025-01-08T17:30:52.460Z,1736357452.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266452
2025-01-08T17:30:52.716Z,1736357452.716 [DAT](INFO): DAT read: 17:30:50.8662 LVL= 18864, 24401, 16338, 25875, AGC= 61, IDX= 411,-0.29,-0.181,-1.733,-0.336,-0.675, PHS= 0.583,-1.011, 0.337, RAW= 141.8,   1.2, CAL= 145.8,  -7.5, ROT=   4.2,   7.5

2025-01-08T17:30:52.717Z,1736357452.717 [DAT](INFO): got valid direction response:
 17:30:50.8662 LVL= 18864, 24401, 16338, 25875, AGC= 61, IDX= 411,-0.29,-0.181,-1.733,-0.336,-0.675, PHS= 0.583,-1.011, 0.337, RAW= 141.8,   1.2, CAL= 145.8,  -7.5, ROT=   4.2,   7.5

2025-01-08T17:30:52.718Z,1736357452.718 [DAT](INFO): DAT read: Bearing   4.2,   7.5 (Local)

2025-01-08T17:30:52.718Z,1736357452.718 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.2,   7.5 (Local)

2025-01-08T17:30:52.720Z,1736357452.720 [DAT](INFO): DAT read: Range 10 to 50 : 56.1 m  (Round-trip  74.9 ms) speed  0.4 m/s

2025-01-08T17:30:52.721Z,1736357452.721 [DAT](INFO): DAT read: user:211>

2025-01-08T17:30:52.721Z,1736357452.721 [DAT](INFO): DAT read: Tx time:17:30:51.9872

2025-01-08T17:30:52.722Z,1736357452.722 [DAT](INFO): Ping request sent.
2025-01-08T17:30:52.722Z,1736357452.722 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:30:52.722Z,1736357452.722 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:30:52.723Z,1736357452.723 [DAT](INFO): direction in FSK: [0.988782,0.072612,-0.130526]
2025-01-08T17:30:52.724Z,1736357452.724 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:52.725Z,1736357452.725 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:52.731Z,1736357452.731 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:52.732Z,1736357452.732 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:52.960Z,1736357452.960 [DAT](INFO): DAT read: TxSync time:17:30:51.9864

2025-01-08T17:30:52.976Z,1736357452.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:53.002Z,1736357453.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.099998 m,
      deltaT: 3.527960 s,
      deltaX: -2.400002 m,
      approachRate: -0.680280 m/s,
      rangeRepo size: 4

2025-01-08T17:30:53.012Z,1736357453.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.099998 m,
      bearing: 273.902481 deg,
      lat: 36.904155 deg,
      lon: -122.119120 deg,
      deltaT: 3.527960 s,
      deltaX: -2.400002 m,
      approachRate: -0.680280 m/s,
      posRepo size: 4

2025-01-08T17:30:53.013Z,1736357453.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m.
2025-01-08T17:30:53.013Z,1736357453.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m.
2025-01-08T17:30:53.020Z,1736357453.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.099998 m,
      nav range: 55.937000 m,
      bearing: 271.511184 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000345 deg/s,
      cmd heading: 268.194399 deg,
      new cmd heading: 268.195032 deg.

2025-01-08T17:30:53.022Z,1736357453.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680886 target range: 56.099998 and range: 56.10 m.
2025-01-08T17:30:53.306Z,1736357453.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:53.329Z,1736357453.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:53.331Z,1736357453.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m.
2025-01-08T17:30:53.331Z,1736357453.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m.
2025-01-08T17:30:53.334Z,1736357453.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.099998 m,
      nav range: 55.758007 m,
      bearing: 271.509245 deg,
      approach rate: -0.543174 m/s,
      LOS rate: -0.005905 deg/s,
      cmd heading: 268.195028 deg,
      new cmd heading: 268.189190 deg.

2025-01-08T17:30:53.335Z,1736357453.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680784 target range: 56.099998 and range: 56.10 m.
2025-01-08T17:30:53.464Z,1736357453.464 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:53.464Z,1736357453.464 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:53.465Z,1736357453.465 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:30:53.717Z,1736357453.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994889
2025-01-08T17:30:53.748Z,1736357453.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:53.787Z,1736357453.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m.
2025-01-08T17:30:53.788Z,1736357453.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m.
2025-01-08T17:30:53.791Z,1736357453.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.099998 m,
      nav range: 55.508324 m,
      bearing: 271.503982 deg,
      approach rate: -0.551911 m/s,
      LOS rate: -0.011685 deg/s,
      cmd heading: 268.189181 deg,
      new cmd heading: 268.173322 deg.

2025-01-08T17:30:53.796Z,1736357453.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680508 target range: 56.099998 and range: 56.10 m.
2025-01-08T17:30:53.968Z,1736357453.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246429
2025-01-08T17:30:54.114Z,1736357454.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:54.125Z,1736357454.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m.
2025-01-08T17:30:54.125Z,1736357454.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m.
2025-01-08T17:30:54.128Z,1736357454.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.099998 m,
      nav range: 55.301468 m,
      bearing: 271.499354 deg,
      approach rate: -0.605048 m/s,
      LOS rate: -0.013589 deg/s,
      cmd heading: 268.173335 deg,
      new cmd heading: 268.159397 deg.

2025-01-08T17:30:54.129Z,1736357454.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680264 target range: 56.099998 and range: 56.10 m.
2025-01-08T17:30:54.222Z,1736357454.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499846
2025-01-08T17:30:54.474Z,1736357454.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751809
2025-01-08T17:30:54.578Z,1736357454.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:54.596Z,1736357454.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m.
2025-01-08T17:30:54.597Z,1736357454.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m.
2025-01-08T17:30:54.600Z,1736357454.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.099998 m,
      nav range: 55.039196 m,
      bearing: 271.492495 deg,
      approach rate: -0.558999 m/s,
      LOS rate: -0.014687 deg/s,
      cmd heading: 268.159401 deg,
      new cmd heading: 268.138728 deg.

2025-01-08T17:30:54.601Z,1736357454.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.679904 target range: 56.099998 and range: 56.10 m.
2025-01-08T17:30:54.726Z,1736357454.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003603
2025-01-08T17:30:54.947Z,1736357454.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:54.957Z,1736357454.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m.
2025-01-08T17:30:54.957Z,1736357454.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m.
2025-01-08T17:30:54.960Z,1736357454.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.099998 m,
      nav range: 54.817371 m,
      bearing: 271.479623 deg,
      approach rate: -0.611547 m/s,
      LOS rate: -0.035630 deg/s,
      cmd heading: 268.138719 deg,
      new cmd heading: 268.099947 deg.

2025-01-08T17:30:54.961Z,1736357454.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.679227 target range: 56.099998 and range: 56.10 m.
2025-01-08T17:30:54.976Z,1736357454.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254548
2025-01-08T17:30:55.228Z,1736357455.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506435
2025-01-08T17:30:55.332Z,1736357455.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:55.340Z,1736357455.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:55.342Z,1736357455.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m.
2025-01-08T17:30:55.342Z,1736357455.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m.
2025-01-08T17:30:55.345Z,1736357455.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.099998 m,
      nav range: 54.585831 m,
      bearing: 271.465624 deg,
      approach rate: -0.601414 m/s,
      LOS rate: -0.036517 deg/s,
      cmd heading: 268.099951 deg,
      new cmd heading: 268.057774 deg.

2025-01-08T17:30:55.346Z,1736357455.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.678491 target range: 56.099998 and range: 56.10 m.
2025-01-08T17:30:55.480Z,1736357455.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758605
2025-01-08T17:30:55.734Z,1736357455.734 [DAT](INFO): DAT read: Rx Time:17:30:54.4640

2025-01-08T17:30:55.737Z,1736357455.737 [DAT](INFO): Rx dataTimestamp_ set to:1736357455.734830
2025-01-08T17:30:55.739Z,1736357455.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016977
2025-01-08T17:30:55.816Z,1736357455.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:55.825Z,1736357455.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m.
2025-01-08T17:30:55.826Z,1736357455.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.10 m.
2025-01-08T17:30:55.826Z,1736357455.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.10 m.
2025-01-08T17:30:55.826Z,1736357455.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-01-08T17:30:55.829Z,1736357455.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.099998 m,
      nav range: 54.274979 m,
      bearing: 271.450928 deg,
      approach rate: -0.643028 m/s,
      LOS rate: -0.030573 deg/s,
      cmd heading: 268.057768 deg,
      new cmd heading: 268.013429 deg.

2025-01-08T17:30:55.830Z,1736357455.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677717 target range: 56.099998 and range: 56.10 m.
2025-01-08T17:30:55.984Z,1736357455.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262584
2025-01-08T17:30:56.133Z,1736357456.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:56.159Z,1736357456.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m.
2025-01-08T17:30:56.186Z,1736357456.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.099998 m,
      nav range: 54.071960 m,
      bearing: 271.441157 deg,
      approach rate: -0.610982 m/s,
      LOS rate: -0.029517 deg/s,
      cmd heading: 268.013427 deg,
      new cmd heading: 267.984003 deg.

2025-01-08T17:30:56.190Z,1736357456.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677203 target range: 56.099998 and range: 56.10 m.
2025-01-08T17:30:56.243Z,1736357456.243 [DAT](INFO): DAT read: 17:30:54.4640 LVL= 19536, 28273, 16546, 29843, AGC= 62, IDX= 421,-0.01, 2.482, 1.010, 2.368, 2.046, PHS= 0.524,-0.988, 0.319, RAW= 142.8,   2.1, CAL= 146.6,  -6.6, ROT=   3.4,   6.6

2025-01-08T17:30:56.244Z,1736357456.244 [DAT](INFO): got valid direction response:
 17:30:54.4640 LVL= 19536, 28273, 16546, 29843, AGC= 62, IDX= 421,-0.01, 2.482, 1.010, 2.368, 2.046, PHS= 0.524,-0.988, 0.319, RAW= 142.8,   2.1, CAL= 146.6,  -6.6, ROT=   3.4,   6.6

2025-01-08T17:30:56.245Z,1736357456.245 [DAT](INFO): DAT read: Bearing   3.4,   6.6 (Local)

2025-01-08T17:30:56.245Z,1736357456.245 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.4,   6.6 (Local)

2025-01-08T17:30:56.247Z,1736357456.247 [DAT](INFO): DAT read: Range 10 to 50 : 54.5 m  (Round-trip  72.7 ms) speed  0.5 m/s

2025-01-08T17:30:56.248Z,1736357456.248 [DAT](INFO): DAT read: user:212>

2025-01-08T17:30:56.249Z,1736357456.249 [DAT](INFO): DAT read: Tx time:17:30:55.5872

2025-01-08T17:30:56.249Z,1736357456.249 [DAT](INFO): Ping request sent.
2025-01-08T17:30:56.249Z,1736357456.249 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:30:56.249Z,1736357456.249 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:30:56.250Z,1736357456.250 [DAT](INFO): direction in FSK: [0.991624,0.058913,-0.114937]
2025-01-08T17:30:56.251Z,1736357456.251 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:56.251Z,1736357456.251 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:56.254Z,1736357456.254 [DAT](INFO): publishing transmit ping time
2025-01-08T17:30:56.254Z,1736357456.254 [DAT](INFO): publishing direction and range info
2025-01-08T17:30:56.490Z,1736357456.490 [DAT](INFO): DAT read: TxSync time:17:30:55.5864

2025-01-08T17:30:56.722Z,1736357456.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:56.755Z,1736357456.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.500000 m,
      deltaT: 3.527770 s,
      deltaX: -1.599998 m,
      approachRate: -0.453544 m/s,
      rangeRepo size: 4

2025-01-08T17:30:56.762Z,1736357456.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.500000 m,
      bearing: 273.239478 deg,
      lat: 36.904155 deg,
      lon: -122.119122 deg,
      deltaT: 3.527770 s,
      deltaX: -1.599998 m,
      approachRate: -0.453544 m/s,
      posRepo size: 4

2025-01-08T17:30:56.762Z,1736357456.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m.
2025-01-08T17:30:56.769Z,1736357456.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.500000 m,
      nav range: 53.794765 m,
      bearing: 271.425813 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029517 deg/s,
      cmd heading: 267.984002 deg,
      new cmd heading: 267.931187 deg.

2025-01-08T17:30:56.770Z,1736357456.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676281 target range: 54.500000 and range: 54.50 m.
2025-01-08T17:30:57.053Z,1736357457.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:57.062Z,1736357457.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m.
2025-01-08T17:30:57.065Z,1736357457.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.500000 m,
      nav range: 53.571384 m,
      bearing: 271.413187 deg,
      approach rate: -0.724304 m/s,
      LOS rate: -0.041109 deg/s,
      cmd heading: 267.931191 deg,
      new cmd heading: 267.893156 deg.

2025-01-08T17:30:57.066Z,1736357457.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675618 target range: 54.500000 and range: 54.50 m.
2025-01-08T17:30:57.452Z,1736357457.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:57.476Z,1736357457.476 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:57.481Z,1736357457.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m.
2025-01-08T17:30:57.484Z,1736357457.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.500000 m,
      nav range: 53.303112 m,
      bearing: 271.398566 deg,
      approach rate: -0.640403 m/s,
      LOS rate: -0.035079 deg/s,
      cmd heading: 267.893161 deg,
      new cmd heading: 267.849076 deg.

2025-01-08T17:30:57.485Z,1736357457.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674848 target range: 54.500000 and range: 54.50 m.
2025-01-08T17:30:57.496Z,1736357457.496 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:30:57.496Z,1736357457.496 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:30:57.497Z,1736357457.497 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:30:57.748Z,1736357457.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499215
2025-01-08T17:30:57.898Z,1736357457.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:57.908Z,1736357457.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m.
2025-01-08T17:30:57.910Z,1736357457.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.500000 m,
      nav range: 52.984089 m,
      bearing: 271.382326 deg,
      approach rate: -0.748550 m/s,
      LOS rate: -0.038334 deg/s,
      cmd heading: 267.849065 deg,
      new cmd heading: 267.800053 deg.

2025-01-08T17:30:57.912Z,1736357457.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673993 target range: 54.500000 and range: 54.50 m.
2025-01-08T17:30:58.005Z,1736357458.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755663
2025-01-08T17:30:58.257Z,1736357458.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007900
2025-01-08T17:30:58.258Z,1736357458.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:58.267Z,1736357458.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m.
2025-01-08T17:30:58.270Z,1736357458.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.500000 m,
      nav range: 52.727650 m,
      bearing: 271.369704 deg,
      approach rate: -0.713967 m/s,
      LOS rate: -0.035315 deg/s,
      cmd heading: 267.800051 deg,
      new cmd heading: 267.761999 deg.

2025-01-08T17:30:58.272Z,1736357458.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673328 target range: 54.500000 and range: 54.50 m.
2025-01-08T17:30:58.508Z,1736357458.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259114
2025-01-08T17:30:58.714Z,1736357458.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:58.739Z,1736357458.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m.
2025-01-08T17:30:58.742Z,1736357458.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.500000 m,
      nav range: 52.387409 m,
      bearing: 271.355178 deg,
      approach rate: -0.720029 m/s,
      LOS rate: -0.030940 deg/s,
      cmd heading: 267.761994 deg,
      new cmd heading: 267.718133 deg.

2025-01-08T17:30:58.743Z,1736357458.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.672563 target range: 54.500000 and range: 54.50 m.
2025-01-08T17:30:58.762Z,1736357458.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512845
2025-01-08T17:30:59.012Z,1736357459.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763185
2025-01-08T17:30:59.063Z,1736357459.063 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:59.072Z,1736357459.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m.
2025-01-08T17:30:59.075Z,1736357459.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.500000 m,
      nav range: 52.127720 m,
      bearing: 271.343938 deg,
      approach rate: -0.782220 m/s,
      LOS rate: -0.034025 deg/s,
      cmd heading: 267.718144 deg,
      new cmd heading: 267.684256 deg.

2025-01-08T17:30:59.076Z,1736357459.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671972 target range: 54.500000 and range: 54.50 m.
2025-01-08T17:30:59.264Z,1736357459.264 [DAT](INFO): DAT read: Rx Time:17:30:58.0609

2025-01-08T17:30:59.265Z,1736357459.265 [DAT](INFO): Rx dataTimestamp_ set to:1736357459.264574
2025-01-08T17:30:59.265Z,1736357459.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016329
2025-01-08T17:30:59.469Z,1736357459.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:59.477Z,1736357459.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:30:59.479Z,1736357459.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m.
2025-01-08T17:30:59.482Z,1736357459.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.500000 m,
      nav range: 51.825539 m,
      bearing: 271.330770 deg,
      approach rate: -0.741520 m/s,
      LOS rate: -0.032500 deg/s,
      cmd heading: 267.684266 deg,
      new cmd heading: 267.644533 deg.

2025-01-08T17:30:59.483Z,1736357459.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671278 target range: 54.500000 and range: 54.50 m.
2025-01-08T17:30:59.517Z,1736357459.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267905
2025-01-08T17:30:59.771Z,1736357459.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520964
2025-01-08T17:30:59.899Z,1736357459.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:30:59.907Z,1736357459.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.50 m.
2025-01-08T17:30:59.910Z,1736357459.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.500000 m,
      nav range: 51.505360 m,
      bearing: 271.319550 deg,
      approach rate: -0.747800 m/s,
      LOS rate: -0.026369 deg/s,
      cmd heading: 267.644542 deg,
      new cmd heading: 267.610672 deg.

2025-01-08T17:30:59.911Z,1736357459.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670687 target range: 54.500000 and range: 54.50 m.
2025-01-08T17:31:00.031Z,1736357460.031 [DAT](INFO): DAT read: 17:30:58.0609 LVL= 19600, 32753, 19426, 32755, AGC= 62, IDX= 405,-0.34,-1.180,-2.525,-1.300,-1.572, PHS= 0.479,-0.906, 0.268, RAW= 141.9,   2.5, CAL= 145.7,  -6.1, ROT=   4.3,   6.1

2025-01-08T17:31:00.032Z,1736357460.032 [DAT](INFO): got valid direction response:
 17:30:58.0609 LVL= 19600, 32753, 19426, 32755, AGC= 62, IDX= 405,-0.34,-1.180,-2.525,-1.300,-1.572, PHS= 0.479,-0.906, 0.268, RAW= 141.9,   2.5, CAL= 145.7,  -6.1, ROT=   4.3,   6.1

2025-01-08T17:31:00.033Z,1736357460.033 [DAT](INFO): DAT read: Bearing   4.3,   6.1 (Local)

2025-01-08T17:31:00.033Z,1736357460.033 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.3,   6.1 (Local)

2025-01-08T17:31:00.035Z,1736357460.035 [DAT](INFO): DAT read: Range 10 to 50 : 52.2 m  (Round-trip  69.6 ms) speed  0.6 m/s

2025-01-08T17:31:00.036Z,1736357460.036 [DAT](INFO): DAT read: user:213>

2025-01-08T17:31:00.037Z,1736357460.037 [DAT](INFO): DAT read: Tx time:17:30:59.1872

2025-01-08T17:31:00.037Z,1736357460.037 [DAT](INFO): Ping request sent.
2025-01-08T17:31:00.037Z,1736357460.037 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:31:00.038Z,1736357460.038 [DAT](INFO): DAT read: TxSync time:17:30:59.1864

2025-01-08T17:31:00.039Z,1736357460.039 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:31:00.040Z,1736357460.040 [DAT](INFO): direction in FSK: [0.991539,0.074554,-0.106264]
2025-01-08T17:31:00.040Z,1736357460.040 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:00.040Z,1736357460.040 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:00.044Z,1736357460.044 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:00.044Z,1736357460.044 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:00.290Z,1736357460.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:00.305Z,1736357460.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.200001 m,
      deltaT: 3.784428 s,
      deltaX: -2.299999 m,
      approachRate: -0.607753 m/s,
      rangeRepo size: 4

2025-01-08T17:31:00.307Z,1736357460.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.200001 m,
      bearing: 273.663267 deg,
      lat: 36.904171 deg,
      lon: -122.119126 deg,
      deltaT: 3.784428 s,
      deltaX: -2.299999 m,
      approachRate: -0.607753 m/s,
      posRepo size: 4

2025-01-08T17:31:00.308Z,1736357460.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.20 m.
2025-01-08T17:31:00.311Z,1736357460.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.200001 m,
      nav range: 51.643555 m,
      bearing: 273.215008 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026369 deg/s,
      cmd heading: 267.610664 deg,
      new cmd heading: 267.579306 deg.

2025-01-08T17:31:00.312Z,1736357460.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670140 target range: 52.200001 and range: 52.20 m.
2025-01-08T17:31:00.725Z,1736357460.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:00.734Z,1736357460.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.20 m.
2025-01-08T17:31:00.757Z,1736357460.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.200001 m,
      nav range: 51.326160 m,
      bearing: 273.218141 deg,
      approach rate: -0.737440 m/s,
      LOS rate: 0.007324 deg/s,
      cmd heading: 267.579300 deg,
      new cmd heading: 267.588756 deg.

2025-01-08T17:31:00.758Z,1736357460.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670305 target range: 52.200001 and range: 52.20 m.
2025-01-08T17:31:01.090Z,1736357461.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:01.099Z,1736357461.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.20 m.
2025-01-08T17:31:01.101Z,1736357461.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.200001 m,
      nav range: 51.060131 m,
      bearing: 273.221350 deg,
      approach rate: -0.729133 m/s,
      LOS rate: 0.008842 deg/s,
      cmd heading: 267.588753 deg,
      new cmd heading: 267.598431 deg.

2025-01-08T17:31:01.102Z,1736357461.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670474 target range: 52.200001 and range: 52.20 m.
2025-01-08T17:31:01.489Z,1736357461.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:01.496Z,1736357461.496 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:01.498Z,1736357461.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.20 m.
2025-01-08T17:31:01.501Z,1736357461.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.200001 m,
      nav range: 50.769264 m,
      bearing: 273.225179 deg,
      approach rate: -0.728880 m/s,
      LOS rate: 0.009650 deg/s,
      cmd heading: 267.598424 deg,
      new cmd heading: 267.609977 deg.

2025-01-08T17:31:01.502Z,1736357461.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670675 target range: 52.200001 and range: 52.20 m.
2025-01-08T17:31:01.532Z,1736357461.532 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:31:01.532Z,1736357461.532 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:31:01.532Z,1736357461.532 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:31:01.785Z,1736357461.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747616
2025-01-08T17:31:01.920Z,1736357461.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:01.967Z,1736357461.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.20 m.
2025-01-08T17:31:01.970Z,1736357461.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.200001 m,
      nav range: 50.471878 m,
      bearing: 273.229276 deg,
      approach rate: -0.633405 m/s,
      LOS rate: 0.008777 deg/s,
      cmd heading: 267.609981 deg,
      new cmd heading: 267.622343 deg.

2025-01-08T17:31:01.972Z,1736357461.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670891 target range: 52.200001 and range: 52.20 m.
2025-01-08T17:31:02.036Z,1736357462.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999300
2025-01-08T17:31:02.289Z,1736357462.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252027
2025-01-08T17:31:02.309Z,1736357462.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:02.318Z,1736357462.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.20 m.
2025-01-08T17:31:02.321Z,1736357462.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.200001 m,
      nav range: 50.204384 m,
      bearing: 273.232414 deg,
      approach rate: -0.763338 m/s,
      LOS rate: 0.009002 deg/s,
      cmd heading: 267.622330 deg,
      new cmd heading: 267.631794 deg.

2025-01-08T17:31:02.322Z,1736357462.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671056 target range: 52.200001 and range: 52.20 m.
2025-01-08T17:31:02.540Z,1736357462.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503235
2025-01-08T17:31:02.752Z,1736357462.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:02.761Z,1736357462.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.20 m.
2025-01-08T17:31:02.764Z,1736357462.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.200001 m,
      nav range: 49.915871 m,
      bearing: 273.235458 deg,
      approach rate: -0.650181 m/s,
      LOS rate: 0.006900 deg/s,
      cmd heading: 267.631783 deg,
      new cmd heading: 267.640969 deg.

2025-01-08T17:31:02.765Z,1736357462.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671216 target range: 52.200001 and range: 52.20 m.
2025-01-08T17:31:02.794Z,1736357462.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757411
2025-01-08T17:31:03.048Z,1736357463.048 [DAT](INFO): DAT read: Rx Time:17:31:01.6572

2025-01-08T17:31:03.049Z,1736357463.049 [DAT](INFO): Rx dataTimestamp_ set to:1736357463.048425
2025-01-08T17:31:03.049Z,1736357463.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012214
2025-01-08T17:31:03.117Z,1736357463.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:03.126Z,1736357463.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.20 m.
2025-01-08T17:31:03.137Z,1736357463.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.200001 m,
      nav range: 49.677345 m,
      bearing: 273.237603 deg,
      approach rate: -0.654003 m/s,
      LOS rate: 0.005910 deg/s,
      cmd heading: 267.640963 deg,
      new cmd heading: 267.647430 deg.

2025-01-08T17:31:03.143Z,1736357463.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671329 target range: 52.200001 and range: 52.20 m.
2025-01-08T17:31:03.300Z,1736357463.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263196
2025-01-08T17:31:03.512Z,1736357463.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:03.520Z,1736357463.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:03.525Z,1736357463.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.20 m.
2025-01-08T17:31:03.531Z,1736357463.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.200001 m,
      nav range: 49.419312 m,
      bearing: 273.239327 deg,
      approach rate: -0.650370 m/s,
      LOS rate: 0.004367 deg/s,
      cmd heading: 267.647438 deg,
      new cmd heading: 267.652635 deg.

2025-01-08T17:31:03.532Z,1736357463.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671420 target range: 52.200001 and range: 52.20 m.
2025-01-08T17:31:03.564Z,1736357463.564 [DAT](INFO): DAT read: 17:31:01.6572 LVL= 19616, 32241, 18130, 31443, AGC= 62, IDX= 398,-0.39, 0.070,-1.351, 0.065,-0.295, PHS= 0.453,-1.009, 0.358, RAW= 146.7,   2.8, CAL= 149.6,  -6.0, ROT=   0.4,   6.0

2025-01-08T17:31:03.565Z,1736357463.565 [DAT](INFO): got valid direction response:
 17:31:01.6572 LVL= 19616, 32241, 18130, 31443, AGC= 62, IDX= 398,-0.39, 0.070,-1.351, 0.065,-0.295, PHS= 0.453,-1.009, 0.358, RAW= 146.7,   2.8, CAL= 149.6,  -6.0, ROT=   0.4,   6.0

2025-01-08T17:31:03.566Z,1736357463.566 [DAT](INFO): DAT read: Bearing   0.4,   6.0 (Local)

2025-01-08T17:31:03.566Z,1736357463.566 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.4,   6.0 (Local)

2025-01-08T17:31:03.568Z,1736357463.568 [DAT](INFO): DAT read: Range 10 to 50 : 49.3 m  (Round-trip  65.8 ms) speed  0.8 m/s

2025-01-08T17:31:03.569Z,1736357463.569 [DAT](INFO): DAT read: user:214>

2025-01-08T17:31:03.570Z,1736357463.570 [DAT](INFO): DAT read: Tx time:17:31:02.7373

2025-01-08T17:31:03.570Z,1736357463.570 [DAT](INFO): Ping request sent.
2025-01-08T17:31:03.570Z,1736357463.570 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:31:03.571Z,1736357463.571 [DAT](INFO): DAT read: TxSync time:17:31:02.7365

2025-01-08T17:31:03.572Z,1736357463.572 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:31:03.573Z,1736357463.573 [DAT](INFO): direction in FSK: [0.994498,0.006943,-0.104528]
2025-01-08T17:31:03.573Z,1736357463.573 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:03.573Z,1736357463.573 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:03.590Z,1736357463.590 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:03.590Z,1736357463.590 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:03.976Z,1736357463.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:04.016Z,1736357464.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.299999 m,
      deltaT: 3.532146 s,
      deltaX: -2.900002 m,
      approachRate: -0.821031 m/s,
      rangeRepo size: 4

2025-01-08T17:31:04.018Z,1736357464.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.299999 m,
      bearing: 270.232235 deg,
      lat: 36.904171 deg,
      lon: -122.119126 deg,
      deltaT: 3.532146 s,
      deltaX: -2.900002 m,
      approachRate: -0.821031 m/s,
      posRepo size: 4

2025-01-08T17:31:04.019Z,1736357464.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.30 m.
2025-01-08T17:31:04.026Z,1736357464.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.299999 m,
      nav range: 49.132946 m,
      bearing: 273.236318 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004367 deg/s,
      cmd heading: 267.652629 deg,
      new cmd heading: 267.659024 deg.

2025-01-08T17:31:04.031Z,1736357464.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671531 target range: 49.299999 and range: 49.30 m.
2025-01-08T17:31:04.329Z,1736357464.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:04.338Z,1736357464.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.30 m.
2025-01-08T17:31:04.342Z,1736357464.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.299999 m,
      nav range: 48.914803 m,
      bearing: 273.234253 deg,
      approach rate: -0.667581 m/s,
      LOS rate: -0.006349 deg/s,
      cmd heading: 267.659022 deg,
      new cmd heading: 267.652798 deg.

2025-01-08T17:31:04.344Z,1736357464.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671422 target range: 49.299999 and range: 49.30 m.
2025-01-08T17:31:04.810Z,1736357464.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:04.827Z,1736357464.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.30 m.
2025-01-08T17:31:04.830Z,1736357464.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.299999 m,
      nav range: 48.632572 m,
      bearing: 273.229270 deg,
      approach rate: -0.577002 m/s,
      LOS rate: -0.010247 deg/s,
      cmd heading: 267.652793 deg,
      new cmd heading: 267.637757 deg.

2025-01-08T17:31:04.831Z,1736357464.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671160 target range: 49.299999 and range: 49.30 m.
2025-01-08T17:31:05.131Z,1736357465.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:05.157Z,1736357465.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.30 m.
2025-01-08T17:31:05.164Z,1736357465.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.299999 m,
      nav range: 48.444160 m,
      bearing: 273.225099 deg,
      approach rate: -0.570033 m/s,
      LOS rate: -0.012668 deg/s,
      cmd heading: 267.637766 deg,
      new cmd heading: 267.625205 deg.

2025-01-08T17:31:05.165Z,1736357465.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670941 target range: 49.299999 and range: 49.30 m.
2025-01-08T17:31:05.539Z,1736357465.539 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:05.547Z,1736357465.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:05.549Z,1736357465.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.30 m.
2025-01-08T17:31:05.552Z,1736357465.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.299999 m,
      nav range: 48.204758 m,
      bearing: 273.218986 deg,
      approach rate: -0.611191 m/s,
      LOS rate: -0.015683 deg/s,
      cmd heading: 267.625199 deg,
      new cmd heading: 267.606769 deg.

2025-01-08T17:31:05.553Z,1736357465.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670619 target range: 49.299999 and range: 49.30 m.
2025-01-08T17:31:05.568Z,1736357465.568 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:31:05.568Z,1736357465.568 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:31:05.569Z,1736357465.569 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:31:05.820Z,1736357465.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250022
2025-01-08T17:31:05.969Z,1736357465.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:05.977Z,1736357465.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.30 m.
2025-01-08T17:31:05.980Z,1736357465.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.299999 m,
      nav range: 47.963791 m,
      bearing: 273.210634 deg,
      approach rate: -0.563016 m/s,
      LOS rate: -0.019614 deg/s,
      cmd heading: 267.606757 deg,
      new cmd heading: 267.581573 deg.

2025-01-08T17:31:05.983Z,1736357465.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670179 target range: 49.299999 and range: 49.30 m.
2025-01-08T17:31:06.077Z,1736357466.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506384
2025-01-08T17:31:06.328Z,1736357466.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758118
2025-01-08T17:31:06.347Z,1736357466.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:06.359Z,1736357466.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.30 m.
2025-01-08T17:31:06.363Z,1736357466.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.299999 m,
      nav range: 47.751766 m,
      bearing: 273.202979 deg,
      approach rate: -0.557092 m/s,
      LOS rate: -0.020202 deg/s,
      cmd heading: 267.581567 deg,
      new cmd heading: 267.558501 deg.

2025-01-08T17:31:06.364Z,1736357466.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669777 target range: 49.299999 and range: 49.30 m.
2025-01-08T17:31:06.580Z,1736357466.580 [DAT](INFO): DAT read: Rx Time:17:31:05.2041

2025-01-08T17:31:06.581Z,1736357466.581 [DAT](INFO): Rx dataTimestamp_ set to:1736357466.580540
2025-01-08T17:31:06.581Z,1736357466.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011164
2025-01-08T17:31:06.788Z,1736357466.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:06.813Z,1736357466.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.30 m.
2025-01-08T17:31:06.820Z,1736357466.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.299999 m,
      nav range: 47.507698 m,
      bearing: 273.193567 deg,
      approach rate: -0.536162 m/s,
      LOS rate: -0.020782 deg/s,
      cmd heading: 267.558509 deg,
      new cmd heading: 267.530128 deg.

2025-01-08T17:31:06.822Z,1736357466.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669281 target range: 49.299999 and range: 49.30 m.
2025-01-08T17:31:06.832Z,1736357466.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262097
2025-01-08T17:31:07.091Z,1736357467.091 [DAT](INFO): DAT read: 17:31:05.2041 LVL= 23104, 32753, 19954, 32755, AGC= 62, IDX= 414,-0.02,-2.940, 1.918,-2.864, 2.996, PHS= 0.435,-1.031, 0.420, RAW= 149.5,   2.4, CAL= 152.0,  -6.4, ROT= 358.0,   6.4

2025-01-08T17:31:07.092Z,1736357467.092 [DAT](INFO): got valid direction response:
 17:31:05.2041 LVL= 23104, 32753, 19954, 32755, AGC= 62, IDX= 414,-0.02,-2.940, 1.918,-2.864, 2.996, PHS= 0.435,-1.031, 0.420, RAW= 149.5,   2.4, CAL= 152.0,  -6.4, ROT= 358.0,   6.4

2025-01-08T17:31:07.093Z,1736357467.093 [DAT](INFO): DAT read: Bearing 358.0,   6.4 (Local)

2025-01-08T17:31:07.093Z,1736357467.093 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.0,   6.4 (Local)

2025-01-08T17:31:07.095Z,1736357467.095 [DAT](INFO): DAT read: Range 10 to 50 : 46.9 m  (Round-trip  62.6 ms) speed  0.4 m/s

2025-01-08T17:31:07.096Z,1736357467.096 [DAT](INFO): DAT read: user:215>

2025-01-08T17:31:07.096Z,1736357467.096 [DAT](INFO): DAT read: Tx time:17:31:06.2873

2025-01-08T17:31:07.097Z,1736357467.097 [DAT](INFO): Ping request sent.
2025-01-08T17:31:07.097Z,1736357467.097 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:31:07.097Z,1736357467.097 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:31:07.098Z,1736357467.098 [DAT](INFO): direction in FSK: [0.993163,-0.034682,-0.111469]
2025-01-08T17:31:07.098Z,1736357467.098 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:07.099Z,1736357467.099 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:07.102Z,1736357467.102 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:07.102Z,1736357467.102 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:07.203Z,1736357467.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:07.226Z,1736357467.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.900002 m,
      deltaT: 3.531441 s,
      deltaX: -2.399998 m,
      approachRate: -0.679609 m/s,
      rangeRepo size: 4

2025-01-08T17:31:07.248Z,1736357467.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.900002 m,
      bearing: 268.459338 deg,
      lat: 36.904171 deg,
      lon: -122.119126 deg,
      deltaT: 3.531441 s,
      deltaX: -2.399998 m,
      approachRate: -0.679609 m/s,
      posRepo size: 4

2025-01-08T17:31:07.249Z,1736357467.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.90 m.
2025-01-08T17:31:07.256Z,1736357467.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.900002 m,
      nav range: 47.278309 m,
      bearing: 273.184442 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020782 deg/s,
      cmd heading: 267.530122 deg,
      new cmd heading: 267.504409 deg.

2025-01-08T17:31:07.257Z,1736357467.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668833 target range: 46.900002 and range: 46.90 m.
2025-01-08T17:31:07.338Z,1736357467.338 [DAT](INFO): DAT read: TxSync time:17:31:06.2865

2025-01-08T17:31:07.554Z,1736357467.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:07.562Z,1736357467.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:07.564Z,1736357467.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.90 m.
2025-01-08T17:31:07.568Z,1736357467.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.900002 m,
      nav range: 47.083019 m,
      bearing: 273.177253 deg,
      approach rate: -0.575812 m/s,
      LOS rate: -0.021285 deg/s,
      cmd heading: 267.504413 deg,
      new cmd heading: 267.482757 deg.

2025-01-08T17:31:07.569Z,1736357467.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668455 target range: 46.900002 and range: 46.90 m.
2025-01-08T17:31:07.590Z,1736357467.590 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:31:07.590Z,1736357467.590 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:31:07.590Z,1736357467.590 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:31:07.840Z,1736357467.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743459
2025-01-08T17:31:07.983Z,1736357467.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:08.012Z,1736357468.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.90 m.
2025-01-08T17:31:08.020Z,1736357468.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.900002 m,
      nav range: 46.848804 m,
      bearing: 273.171338 deg,
      approach rate: -0.523316 m/s,
      LOS rate: -0.013284 deg/s,
      cmd heading: 267.482748 deg,
      new cmd heading: 267.464912 deg.

2025-01-08T17:31:08.022Z,1736357468.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668143 target range: 46.900002 and range: 46.90 m.
2025-01-08T17:31:08.094Z,1736357468.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996600
2025-01-08T17:31:08.344Z,1736357468.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247463
2025-01-08T17:31:08.363Z,1736357468.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:08.372Z,1736357468.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.90 m.
2025-01-08T17:31:08.375Z,1736357468.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.900002 m,
      nav range: 46.641659 m,
      bearing: 273.166484 deg,
      approach rate: -0.576704 m/s,
      LOS rate: -0.013572 deg/s,
      cmd heading: 267.464908 deg,
      new cmd heading: 267.450283 deg.

2025-01-08T17:31:08.376Z,1736357468.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667888 target range: 46.900002 and range: 46.90 m.
2025-01-08T17:31:08.598Z,1736357468.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500784
2025-01-08T17:31:08.815Z,1736357468.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:08.845Z,1736357468.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.90 m.
2025-01-08T17:31:08.848Z,1736357468.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751672
2025-01-08T17:31:08.852Z,1736357468.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.900002 m,
      nav range: 46.388763 m,
      bearing: 273.162779 deg,
      approach rate: -0.533674 m/s,
      LOS rate: -0.007862 deg/s,
      cmd heading: 267.450291 deg,
      new cmd heading: 267.439114 deg.

2025-01-08T17:31:08.853Z,1736357468.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667693 target range: 46.900002 and range: 46.90 m.
2025-01-08T17:31:09.101Z,1736357469.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004306
2025-01-08T17:31:09.168Z,1736357469.168 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:09.180Z,1736357469.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.90 m.
2025-01-08T17:31:09.182Z,1736357469.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.900002 m,
      nav range: 46.191074 m,
      bearing: 273.159507 deg,
      approach rate: -0.591315 m/s,
      LOS rate: -0.009827 deg/s,
      cmd heading: 267.439117 deg,
      new cmd heading: 267.429261 deg.

2025-01-08T17:31:09.184Z,1736357469.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667521 target range: 46.900002 and range: 46.90 m.
2025-01-08T17:31:09.352Z,1736357469.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255639
2025-01-08T17:31:09.568Z,1736357469.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:09.576Z,1736357469.576 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:09.578Z,1736357469.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.90 m.
2025-01-08T17:31:09.581Z,1736357469.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.900002 m,
      nav range: 45.967331 m,
      bearing: 273.155318 deg,
      approach rate: -0.561777 m/s,
      LOS rate: -0.010571 deg/s,
      cmd heading: 267.429254 deg,
      new cmd heading: 267.416623 deg.

2025-01-08T17:31:09.582Z,1736357469.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667301 target range: 46.900002 and range: 46.90 m.
2025-01-08T17:31:09.605Z,1736357469.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508108
2025-01-08T17:31:09.857Z,1736357469.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759941
2025-01-08T17:31:10.004Z,1736357470.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:10.013Z,1736357470.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.90 m.
2025-01-08T17:31:10.016Z,1736357470.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.900002 m,
      nav range: 45.712856 m,
      bearing: 273.151603 deg,
      approach rate: -0.585217 m/s,
      LOS rate: -0.008590 deg/s,
      cmd heading: 267.416632 deg,
      new cmd heading: 267.405426 deg.

2025-01-08T17:31:10.017Z,1736357470.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667105 target range: 46.900002 and range: 46.90 m.
2025-01-08T17:31:10.109Z,1736357470.109 [DAT](INFO): DAT read: Rx Time:17:31:08.7516

2025-01-08T17:31:10.109Z,1736357470.109 [DAT](INFO): Rx dataTimestamp_ set to:1736357470.108807
2025-01-08T17:31:10.110Z,1736357470.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012944
2025-01-08T17:31:10.360Z,1736357470.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263687
2025-01-08T17:31:10.378Z,1736357470.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:10.387Z,1736357470.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.90 m.
2025-01-08T17:31:10.414Z,1736357470.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.900002 m,
      nav range: 45.494823 m,
      bearing: 273.148029 deg,
      approach rate: -0.582353 m/s,
      LOS rate: -0.009592 deg/s,
      cmd heading: 267.405430 deg,
      new cmd heading: 267.394656 deg.

2025-01-08T17:31:10.420Z,1736357470.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666917 target range: 46.900002 and range: 46.90 m.
2025-01-08T17:31:10.618Z,1736357470.618 [DAT](INFO): DAT read: 17:31:08.7516 LVL= 22640, 32401, 21202, 31507, AGC= 61, IDX= 421, 0.02,-1.002,-2.415,-0.963,-1.356, PHS= 0.442,-1.012, 0.390, RAW= 148.2,   2.6, CAL= 150.9,  -6.3, ROT= 359.1,   6.3

2025-01-08T17:31:10.620Z,1736357470.620 [DAT](INFO): got valid direction response:
 17:31:08.7516 LVL= 22640, 32401, 21202, 31507, AGC= 61, IDX= 421, 0.02,-1.002,-2.415,-0.963,-1.356, PHS= 0.442,-1.012, 0.390, RAW= 148.2,   2.6, CAL= 150.9,  -6.3, ROT= 359.1,   6.3

2025-01-08T17:31:10.621Z,1736357470.621 [DAT](INFO): DAT read: Bearing 359.1,   6.3 (Local)

2025-01-08T17:31:10.622Z,1736357470.622 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.1,   6.3 (Local)

2025-01-08T17:31:10.624Z,1736357470.624 [DAT](INFO): DAT read: Range 10 to 50 : 45.1 m  (Round-trip  60.2 ms) speed  0.4 m/s

2025-01-08T17:31:10.625Z,1736357470.625 [DAT](INFO): DAT read: user:216>

2025-01-08T17:31:10.625Z,1736357470.625 [DAT](INFO): DAT read: Tx time:17:31:09.8373

2025-01-08T17:31:10.626Z,1736357470.626 [DAT](INFO): Ping request sent.
2025-01-08T17:31:10.626Z,1736357470.626 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:31:10.626Z,1736357470.626 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:31:10.628Z,1736357470.628 [DAT](INFO): direction in FSK: [0.993838,-0.015612,-0.109734]
2025-01-08T17:31:10.629Z,1736357470.629 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:10.631Z,1736357470.631 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:10.636Z,1736357470.636 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:10.636Z,1736357470.636 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:10.865Z,1736357470.865 [DAT](INFO): DAT read: TxSync time:17:31:09.8365

2025-01-08T17:31:10.893Z,1736357470.893 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:10.924Z,1736357470.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.099998 m,
      deltaT: 3.527992 s,
      deltaX: -1.800003 m,
      approachRate: -0.510206 m/s,
      rangeRepo size: 4

2025-01-08T17:31:10.926Z,1736357470.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.099998 m,
      bearing: 269.616733 deg,
      lat: 36.904147 deg,
      lon: -122.119126 deg,
      deltaT: 3.527992 s,
      deltaX: -1.800003 m,
      approachRate: -0.510206 m/s,
      posRepo size: 4

2025-01-08T17:31:10.934Z,1736357470.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.10 m.
2025-01-08T17:31:10.941Z,1736357470.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.099998 m,
      nav range: 45.111721 m,
      bearing: 269.872025 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009592 deg/s,
      cmd heading: 267.394666 deg,
      new cmd heading: 267.379343 deg.

2025-01-08T17:31:10.942Z,1736357470.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666650 target range: 45.099998 and range: 45.10 m.
2025-01-08T17:31:11.213Z,1736357471.213 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:11.222Z,1736357471.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.10 m.
2025-01-08T17:31:11.225Z,1736357471.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.099998 m,
      nav range: 44.916702 m,
      bearing: 269.852979 deg,
      approach rate: -0.645676 m/s,
      LOS rate: -0.063331 deg/s,
      cmd heading: 267.379339 deg,
      new cmd heading: 267.321954 deg.

2025-01-08T17:31:11.226Z,1736357471.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665648 target range: 45.099998 and range: 45.10 m.
2025-01-08T17:31:11.524Z,1736357471.524 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:31:11.615Z,1736357471.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:11.629Z,1736357471.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:11.631Z,1736357471.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.10 m.
2025-01-08T17:31:11.634Z,1736357471.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.099998 m,
      nav range: 44.671585 m,
      bearing: 269.829591 deg,
      approach rate: -0.598877 m/s,
      LOS rate: -0.057455 deg/s,
      cmd heading: 267.321965 deg,
      new cmd heading: 267.251418 deg.

2025-01-08T17:31:11.635Z,1736357471.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664417 target range: 45.099998 and range: 45.10 m.
2025-01-08T17:31:11.873Z,1736357471.873 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:31:11.873Z,1736357471.873 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:31:11.874Z,1736357471.874 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:31:12.052Z,1736357472.052 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:12.081Z,1736357472.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.10 m.
2025-01-08T17:31:12.090Z,1736357472.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.099998 m,
      nav range: 44.397144 m,
      bearing: 269.806749 deg,
      approach rate: -0.610050 m/s,
      LOS rate: -0.051089 deg/s,
      cmd heading: 267.251423 deg,
      new cmd heading: 267.182473 deg.

2025-01-08T17:31:12.096Z,1736357472.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.663214 target range: 45.099998 and range: 45.10 m.
2025-01-08T17:31:12.126Z,1736357472.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500174
2025-01-08T17:31:12.376Z,1736357472.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750377
2025-01-08T17:31:12.420Z,1736357472.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:12.445Z,1736357472.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.10 m.
2025-01-08T17:31:12.449Z,1736357472.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.099998 m,
      nav range: 44.166500 m,
      bearing: 269.787688 deg,
      approach rate: -0.632200 m/s,
      LOS rate: -0.052519 deg/s,
      cmd heading: 267.182466 deg,
      new cmd heading: 267.124984 deg.

2025-01-08T17:31:12.450Z,1736357472.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.662210 target range: 45.099998 and range: 45.10 m.
2025-01-08T17:31:12.528Z,1736357472.528 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:31:12.629Z,1736357472.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002803
2025-01-08T17:31:12.880Z,1736357472.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254490
2025-01-08T17:31:12.894Z,1736357472.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:12.917Z,1736357472.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.10 m.
2025-01-08T17:31:12.928Z,1736357472.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.099998 m,
      nav range: 43.853096 m,
      bearing: 269.749092 deg,
      approach rate: -0.667499 m/s,
      LOS rate: -0.082790 deg/s,
      cmd heading: 267.124983 deg,
      new cmd heading: 267.008368 deg.

2025-01-08T17:31:12.929Z,1736357472.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660175 target range: 45.099998 and range: 45.10 m.
2025-01-08T17:31:13.134Z,1736357473.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507942
2025-01-08T17:31:13.234Z,1736357473.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:13.244Z,1736357473.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.10 m.
2025-01-08T17:31:13.247Z,1736357473.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.099998 m,
      nav range: 43.628967 m,
      bearing: 269.721040 deg,
      approach rate: -0.681215 m/s,
      LOS rate: -0.085700 deg/s,
      cmd heading: 267.008378 deg,
      new cmd heading: 266.923789 deg.

2025-01-08T17:31:13.264Z,1736357473.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658699 target range: 45.099998 and range: 45.10 m.
2025-01-08T17:31:13.384Z,1736357473.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758429
2025-01-08T17:31:13.636Z,1736357473.636 [DAT](INFO): DAT read: Rx Time:17:31:12.2991

2025-01-08T17:31:13.637Z,1736357473.637 [DAT](INFO): Rx dataTimestamp_ set to:1736357473.636615
2025-01-08T17:31:13.638Z,1736357473.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011624
2025-01-08T17:31:13.660Z,1736357473.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:13.670Z,1736357473.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:13.685Z,1736357473.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.10 m.
2025-01-08T17:31:13.694Z,1736357473.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.099998 m,
      nav range: 43.347820 m,
      bearing: 269.685856 deg,
      approach rate: -0.638603 m/s,
      LOS rate: -0.080435 deg/s,
      cmd heading: 266.923793 deg,
      new cmd heading: 266.817557 deg.

2025-01-08T17:31:13.700Z,1736357473.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656845 target range: 45.099998 and range: 45.10 m.
2025-01-08T17:31:13.889Z,1736357473.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263111
2025-01-08T17:31:14.106Z,1736357474.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:14.117Z,1736357474.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.10 m.
2025-01-08T17:31:14.122Z,1736357474.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.099998 m,
      nav range: 43.043171 m,
      bearing: 269.657453 deg,
      approach rate: -0.706733 m/s,
      LOS rate: -0.066357 deg/s,
      cmd heading: 266.817570 deg,
      new cmd heading: 266.731756 deg.

2025-01-08T17:31:14.124Z,1736357474.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655347 target range: 45.099998 and range: 45.10 m.
2025-01-08T17:31:14.157Z,1736357474.157 [DAT](INFO): DAT read: 17:31:12.2991 LVL= 20768, 31057, 19634, 30371, AGC= 63, IDX= 410,-0.30,-3.096, 1.734,-3.100, 2.861, PHS= 0.414,-1.081, 0.319, RAW= 146.7,   4.9, CAL= 149.1,  -3.8, ROT=   0.9,   3.8

2025-01-08T17:31:14.168Z,1736357474.168 [DAT](INFO): got valid direction response:
 17:31:12.2991 LVL= 20768, 31057, 19634, 30371, AGC= 63, IDX= 410,-0.30,-3.096, 1.734,-3.100, 2.861, PHS= 0.414,-1.081, 0.319, RAW= 146.7,   4.9, CAL= 149.1,  -3.8, ROT=   0.9,   3.8

2025-01-08T17:31:14.170Z,1736357474.170 [DAT](INFO): DAT read: Bearing   0.9,   3.8 (Local)

2025-01-08T17:31:14.170Z,1736357474.170 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.9,   3.8 (Local)

2025-01-08T17:31:14.191Z,1736357474.191 [DAT](INFO): DAT read: Range 10 to 50 : 43.2 m  (Round-trip  57.6 ms) speed  0.6 m/s

2025-01-08T17:31:14.192Z,1736357474.192 [DAT](INFO): DAT read: user:217>

2025-01-08T17:31:14.193Z,1736357474.193 [DAT](INFO): DAT read: Tx time:17:31:13.3874

2025-01-08T17:31:14.193Z,1736357474.193 [DAT](INFO): Ping request sent.
2025-01-08T17:31:14.193Z,1736357474.193 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:31:14.194Z,1736357474.194 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:31:14.194Z,1736357474.194 [DAT](INFO): direction in FSK: [0.997678,0.015673,-0.066274]
2025-01-08T17:31:14.195Z,1736357474.195 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:14.199Z,1736357474.199 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:14.210Z,1736357474.210 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:14.211Z,1736357474.211 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:14.393Z,1736357474.393 [DAT](INFO): DAT read: TxSync time:17:31:13.3866

2025-01-08T17:31:14.457Z,1736357474.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:14.489Z,1736357474.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.200001 m,
      deltaT: 3.528038 s,
      deltaX: -1.899998 m,
      approachRate: -0.538542 m/s,
      rangeRepo size: 4

2025-01-08T17:31:14.500Z,1736357474.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.200001 m,
      bearing: 270.513803 deg,
      lat: 36.904147 deg,
      lon: -122.119126 deg,
      deltaT: 3.528038 s,
      deltaX: -1.899998 m,
      approachRate: -0.538542 m/s,
      posRepo size: 4

2025-01-08T17:31:14.501Z,1736357474.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-01-08T17:31:14.508Z,1736357474.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 42.822376 m,
      bearing: 269.635908 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.066357 deg/s,
      cmd heading: 266.731755 deg,
      new cmd heading: 266.658573 deg.

2025-01-08T17:31:14.509Z,1736357474.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654070 target range: 43.200001 and range: 43.20 m.
2025-01-08T17:31:14.950Z,1736357474.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:14.960Z,1736357474.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-01-08T17:31:14.964Z,1736357474.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 42.478584 m,
      bearing: 269.603672 deg,
      approach rate: -0.720063 m/s,
      LOS rate: -0.068064 deg/s,
      cmd heading: 266.658563 deg,
      new cmd heading: 266.561072 deg.

2025-01-08T17:31:14.965Z,1736357474.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652369 target range: 43.200001 and range: 43.20 m.
2025-01-08T17:31:15.395Z,1736357475.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:15.425Z,1736357475.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-01-08T17:31:15.429Z,1736357475.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 42.168556 m,
      bearing: 269.577437 deg,
      approach rate: -0.666730 m/s,
      LOS rate: -0.056834 deg/s,
      cmd heading: 266.561082 deg,
      new cmd heading: 266.481800 deg.

2025-01-08T17:31:15.430Z,1736357475.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650985 target range: 43.200001 and range: 43.20 m.
2025-01-08T17:31:15.794Z,1736357475.794 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:15.801Z,1736357475.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:15.803Z,1736357475.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-01-08T17:31:15.807Z,1736357475.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 41.890785 m,
      bearing: 269.553655 deg,
      approach rate: -0.736246 m/s,
      LOS rate: -0.063455 deg/s,
      cmd heading: 266.481798 deg,
      new cmd heading: 266.409977 deg.

2025-01-08T17:31:15.808Z,1736357475.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649731 target range: 43.200001 and range: 43.20 m.
2025-01-08T17:31:15.904Z,1736357475.904 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:31:15.905Z,1736357475.905 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:31:15.905Z,1736357475.905 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:31:16.159Z,1736357476.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965808
2025-01-08T17:31:16.334Z,1736357476.334 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:16.345Z,1736357476.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-01-08T17:31:16.348Z,1736357476.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 41.515434 m,
      bearing: 269.514966 deg,
      approach rate: -0.692177 m/s,
      LOS rate: -0.071991 deg/s,
      cmd heading: 266.409971 deg,
      new cmd heading: 266.292855 deg.

2025-01-08T17:31:16.349Z,1736357476.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647687 target range: 43.200001 and range: 43.20 m.
2025-01-08T17:31:16.409Z,1736357476.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215605
2025-01-08T17:31:16.660Z,1736357476.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466921
2025-01-08T17:31:16.719Z,1736357476.719 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:16.729Z,1736357476.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-01-08T17:31:16.732Z,1736357476.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 41.248497 m,
      bearing: 269.487022 deg,
      approach rate: -0.694688 m/s,
      LOS rate: -0.073193 deg/s,
      cmd heading: 266.292847 deg,
      new cmd heading: 266.208473 deg.

2025-01-08T17:31:16.733Z,1736357476.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646214 target range: 43.200001 and range: 43.20 m.
2025-01-08T17:31:16.916Z,1736357476.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722251
2025-01-08T17:31:17.124Z,1736357477.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:17.133Z,1736357477.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-01-08T17:31:17.136Z,1736357477.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 40.977745 m,
      bearing: 269.464321 deg,
      approach rate: -0.670517 m/s,
      LOS rate: -0.056590 deg/s,
      cmd heading: 266.208481 deg,
      new cmd heading: 266.139928 deg.

2025-01-08T17:31:17.137Z,1736357477.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645018 target range: 43.200001 and range: 43.20 m.
2025-01-08T17:31:17.166Z,1736357477.166 [DAT](INFO): DAT read: Rx Time:17:31:15.8457

2025-01-08T17:31:17.168Z,1736357477.168 [DAT](INFO): Rx dataTimestamp_ set to:1736357477.166928
2025-01-08T17:31:17.170Z,1736357477.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975989
2025-01-08T17:31:17.417Z,1736357477.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223721
2025-01-08T17:31:17.497Z,1736357477.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:17.506Z,1736357477.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.20 m.
2025-01-08T17:31:17.509Z,1736357477.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.200001 m,
      nav range: 40.729149 m,
      bearing: 269.443473 deg,
      approach rate: -0.666492 m/s,
      LOS rate: -0.056235 deg/s,
      cmd heading: 266.139933 deg,
      new cmd heading: 266.077008 deg.

2025-01-08T17:31:17.510Z,1736357477.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.643920 target range: 43.200001 and range: 43.20 m.
2025-01-08T17:31:17.678Z,1736357477.678 [DAT](INFO): DAT read: 17:31:15.8457 LVL= 18528, 26193, 17746, 28787, AGC= 59, IDX= 407,-0.04, 0.413,-1.036, 0.371, 0.067, PHS= 0.434,-1.055, 0.302, RAW= 145.4,   4.5, CAL= 148.1,  -4.1, ROT=   1.9,   4.1

2025-01-08T17:31:17.682Z,1736357477.682 [DAT](INFO): got valid direction response:
 17:31:15.8457 LVL= 18528, 26193, 17746, 28787, AGC= 59, IDX= 407,-0.04, 0.413,-1.036, 0.371, 0.067, PHS= 0.434,-1.055, 0.302, RAW= 145.4,   4.5, CAL= 148.1,  -4.1, ROT=   1.9,   4.1

2025-01-08T17:31:17.685Z,1736357477.685 [DAT](INFO): DAT read: Bearing   1.9,   4.1 (Local)

2025-01-08T17:31:17.685Z,1736357477.685 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.9,   4.1 (Local)

2025-01-08T17:31:17.688Z,1736357477.688 [DAT](INFO): DAT read: Range 10 to 50 : 40.5 m  (Round-trip  54.1 ms) speed  0.6 m/s

2025-01-08T17:31:17.690Z,1736357477.690 [DAT](INFO): DAT read: user:218>

2025-01-08T17:31:17.691Z,1736357477.691 [DAT](INFO): DAT read: Tx time:17:31:16.9374

2025-01-08T17:31:17.691Z,1736357477.691 [DAT](INFO): Ping request sent.
2025-01-08T17:31:17.692Z,1736357477.692 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:31:17.692Z,1736357477.692 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:31:17.693Z,1736357477.693 [DAT](INFO): direction in FSK: [0.996892,0.033070,-0.071497]
2025-01-08T17:31:17.694Z,1736357477.694 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:17.694Z,1736357477.694 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:17.700Z,1736357477.700 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:17.700Z,1736357477.700 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:17.925Z,1736357477.925 [DAT](INFO): DAT read: TxSync time:17:31:16.9366

2025-01-08T17:31:17.989Z,1736357477.989 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:18.005Z,1736357478.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.500000 m,
      deltaT: 3.528683 s,
      deltaX: -2.700001 m,
      approachRate: -0.765158 m/s,
      rangeRepo size: 4

2025-01-08T17:31:18.007Z,1736357478.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.500000 m,
      bearing: 270.523391 deg,
      lat: 36.904147 deg,
      lon: -122.119126 deg,
      deltaT: 3.528683 s,
      deltaX: -2.700001 m,
      approachRate: -0.765158 m/s,
      posRepo size: 4

2025-01-08T17:31:18.008Z,1736357478.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m.
2025-01-08T17:31:18.011Z,1736357478.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.500000 m,
      nav range: 40.398560 m,
      bearing: 269.420599 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.056235 deg/s,
      cmd heading: 266.077013 deg,
      new cmd heading: 265.993240 deg.

2025-01-08T17:31:18.012Z,1736357478.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.642458 target range: 40.500000 and range: 40.50 m.
2025-01-08T17:31:18.325Z,1736357478.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:18.332Z,1736357478.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:18.334Z,1736357478.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m.
2025-01-08T17:31:18.337Z,1736357478.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.500000 m,
      nav range: 40.184807 m,
      bearing: 269.406030 deg,
      approach rate: -0.644810 m/s,
      LOS rate: -0.044183 deg/s,
      cmd heading: 265.993248 deg,
      new cmd heading: 265.949308 deg.

2025-01-08T17:31:18.339Z,1736357478.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.641691 target range: 40.500000 and range: 40.50 m.
2025-01-08T17:31:18.424Z,1736357478.424 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:31:18.424Z,1736357478.424 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:31:18.425Z,1736357478.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:31:18.677Z,1736357478.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.985097
2025-01-08T17:31:18.728Z,1736357478.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:18.750Z,1736357478.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m.
2025-01-08T17:31:18.757Z,1736357478.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.500000 m,
      nav range: 39.928329 m,
      bearing: 269.389294 deg,
      approach rate: -0.617225 m/s,
      LOS rate: -0.040534 deg/s,
      cmd heading: 265.949316 deg,
      new cmd heading: 265.898786 deg.

2025-01-08T17:31:18.758Z,1736357478.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.640809 target range: 40.500000 and range: 40.50 m.
2025-01-08T17:31:18.931Z,1736357478.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239817
2025-01-08T17:31:19.155Z,1736357479.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:19.182Z,1736357479.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490900
2025-01-08T17:31:19.188Z,1736357479.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m.
2025-01-08T17:31:19.190Z,1736357479.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.500000 m,
      nav range: 39.669041 m,
      bearing: 269.376822 deg,
      approach rate: -0.626430 m/s,
      LOS rate: -0.030329 deg/s,
      cmd heading: 265.898773 deg,
      new cmd heading: 265.861111 deg.

2025-01-08T17:31:19.196Z,1736357479.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.640152 target range: 40.500000 and range: 40.50 m.
2025-01-08T17:31:19.438Z,1736357479.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745641
2025-01-08T17:31:19.536Z,1736357479.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:19.545Z,1736357479.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m.
2025-01-08T17:31:19.548Z,1736357479.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.500000 m,
      nav range: 39.438038 m,
      bearing: 269.365572 deg,
      approach rate: -0.605876 m/s,
      LOS rate: -0.029679 deg/s,
      cmd heading: 265.861125 deg,
      new cmd heading: 265.827178 deg.

2025-01-08T17:31:19.549Z,1736357479.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.639559 target range: 40.500000 and range: 40.50 m.
2025-01-08T17:31:19.690Z,1736357479.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998195
2025-01-08T17:31:19.944Z,1736357479.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251866
2025-01-08T17:31:20.009Z,1736357480.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:20.034Z,1736357480.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m.
2025-01-08T17:31:20.041Z,1736357480.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.500000 m,
      nav range: 39.164623 m,
      bearing: 269.349585 deg,
      approach rate: -0.558919 m/s,
      LOS rate: -0.032909 deg/s,
      cmd heading: 265.827165 deg,
      new cmd heading: 265.778870 deg.

2025-01-08T17:31:20.042Z,1736357480.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.638716 target range: 40.500000 and range: 40.50 m.
2025-01-08T17:31:20.194Z,1736357480.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502646
2025-01-08T17:31:20.363Z,1736357480.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:20.374Z,1736357480.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:20.380Z,1736357480.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m.
2025-01-08T17:31:20.383Z,1736357480.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.500000 m,
      nav range: 38.960716 m,
      bearing: 269.337510 deg,
      approach rate: -0.588860 m/s,
      LOS rate: -0.035054 deg/s,
      cmd heading: 265.778862 deg,
      new cmd heading: 265.742447 deg.

2025-01-08T17:31:20.389Z,1736357480.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.638081 target range: 40.500000 and range: 40.50 m.
2025-01-08T17:31:20.445Z,1736357480.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753726
2025-01-08T17:31:20.697Z,1736357480.697 [DAT](INFO): DAT read: Rx Time:17:31:19.3924

2025-01-08T17:31:20.698Z,1736357480.698 [DAT](INFO): Rx dataTimestamp_ set to:1736357480.697496
2025-01-08T17:31:20.699Z,1736357480.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007220
2025-01-08T17:31:20.761Z,1736357480.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:20.782Z,1736357480.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.50 m.
2025-01-08T17:31:20.790Z,1736357480.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.500000 m,
      nav range: 38.730751 m,
      bearing: 269.323817 deg,
      approach rate: -0.572283 m/s,
      LOS rate: -0.034280 deg/s,
      cmd heading: 265.742443 deg,
      new cmd heading: 265.701118 deg.

2025-01-08T17:31:20.791Z,1736357480.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.637359 target range: 40.500000 and range: 40.50 m.
2025-01-08T17:31:20.953Z,1736357480.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260281
2025-01-08T17:31:21.207Z,1736357481.207 [DAT](INFO): DAT read: 17:31:19.3924 LVL= 17744, 26097, 16210, 27027, AGC= 59, IDX= 405, 0.31,-2.204, 2.619,-2.267,-2.583, PHS= 0.467,-1.033, 0.314, RAW= 144.7,   3.6, CAL= 147.8,  -5.0, ROT=   2.2,   5.0

2025-01-08T17:31:21.209Z,1736357481.209 [DAT](INFO): got valid direction response:
 17:31:19.3924 LVL= 17744, 26097, 16210, 27027, AGC= 59, IDX= 405, 0.31,-2.204, 2.619,-2.267,-2.583, PHS= 0.467,-1.033, 0.314, RAW= 144.7,   3.6, CAL= 147.8,  -5.0, ROT=   2.2,   5.0

2025-01-08T17:31:21.212Z,1736357481.212 [DAT](INFO): DAT read: Bearing   2.2,   5.0 (Local)

2025-01-08T17:31:21.212Z,1736357481.212 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.2,   5.0 (Local)

2025-01-08T17:31:21.214Z,1736357481.214 [DAT](INFO): DAT read: Range 10 to 50 : 38.1 m  (Round-trip  50.9 ms) speed  0.4 m/s

2025-01-08T17:31:21.215Z,1736357481.215 [DAT](INFO): DAT read: user:219>

2025-01-08T17:31:21.216Z,1736357481.216 [DAT](INFO): DAT read: Tx time:17:31:20.4874

2025-01-08T17:31:21.217Z,1736357481.217 [DAT](INFO): Ping request sent.
2025-01-08T17:31:21.217Z,1736357481.217 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:31:21.217Z,1736357481.217 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:31:21.218Z,1736357481.218 [DAT](INFO): direction in FSK: [0.995460,0.038242,-0.087156]
2025-01-08T17:31:21.218Z,1736357481.218 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:21.218Z,1736357481.218 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:21.222Z,1736357481.222 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:21.222Z,1736357481.222 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:21.228Z,1736357481.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:21.302Z,1736357481.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.099998 m,
      deltaT: 3.531318 s,
      deltaX: -2.400002 m,
      approachRate: -0.679633 m/s,
      rangeRepo size: 4

2025-01-08T17:31:21.310Z,1736357481.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.099998 m,
      bearing: 270.585184 deg,
      lat: 36.904153 deg,
      lon: -122.119122 deg,
      deltaT: 3.531318 s,
      deltaX: -2.400002 m,
      approachRate: -0.679633 m/s,
      posRepo size: 4

2025-01-08T17:31:21.328Z,1736357481.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-01-08T17:31:21.330Z,1736357481.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 38.158318 m,
      bearing: 270.296243 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.034280 deg/s,
      cmd heading: 265.701107 deg,
      new cmd heading: 265.647741 deg.

2025-01-08T17:31:21.340Z,1736357481.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.636428 target range: 38.099998 and range: 38.10 m.
2025-01-08T17:31:21.453Z,1736357481.453 [DAT](INFO): DAT read: TxSync time:17:31:20.4866

2025-01-08T17:31:21.630Z,1736357481.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:21.646Z,1736357481.646 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-01-08T17:31:21.646Z,1736357481.646 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-01-08T17:31:21.646Z,1736357481.646 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-01-08T17:31:21.652Z,1736357481.652 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  38.099998 m (mode  2.000000 count ).
2025-01-08T17:31:21.652Z,1736357481.652 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-01-08T17:31:21.652Z,1736357481.652 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-01-08T17:31:21.655Z,1736357481.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-01-08T17:31:21.662Z,1736357481.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 37.929153 m,
      bearing: 270.292800 deg,
      approach rate: -0.649093 m/s,
      LOS rate: -0.009810 deg/s,
      cmd heading: 265.647750 deg,
      new cmd heading: 265.637359 deg.

2025-01-08T17:31:21.667Z,1736357481.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.636247 target range: 38.099998 and range: 38.10 m.
2025-01-08T17:31:22.035Z,1736357482.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:22.057Z,1736357482.057 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-01-08T17:31:22.058Z,1736357482.058 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-01-08T17:31:22.064Z,1736357482.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-01-08T17:31:22.067Z,1736357482.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 37.699444 m,
      bearing: 270.286942 deg,
      approach rate: -0.560329 m/s,
      LOS rate: -0.014377 deg/s,
      cmd heading: 265.637368 deg,
      new cmd heading: 265.619686 deg.

2025-01-08T17:31:22.072Z,1736357482.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635938 target range: 38.099998 and range: 38.10 m.
2025-01-08T17:31:22.420Z,1736357482.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:22.428Z,1736357482.428 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-01-08T17:31:22.428Z,1736357482.428 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-01-08T17:31:22.428Z,1736357482.428 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:22.430Z,1736357482.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-01-08T17:31:22.433Z,1736357482.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 37.480541 m,
      bearing: 270.281424 deg,
      approach rate: -0.597221 m/s,
      LOS rate: -0.015142 deg/s,
      cmd heading: 265.619691 deg,
      new cmd heading: 265.603041 deg.

2025-01-08T17:31:22.434Z,1736357482.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635648 target range: 38.099998 and range: 38.10 m.
2025-01-08T17:31:22.460Z,1736357482.460 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:31:22.460Z,1736357482.460 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:31:22.461Z,1736357482.461 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-08T17:31:22.713Z,1736357482.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496030
2025-01-08T17:31:22.843Z,1736357482.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:22.849Z,1736357482.849 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-01-08T17:31:22.849Z,1736357482.849 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-01-08T17:31:22.849Z,1736357482.849 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-01-08T17:31:22.850Z,1736357482.850 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-01-08T17:31:22.852Z,1736357482.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-01-08T17:31:22.856Z,1736357482.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 37.240555 m,
      bearing: 270.276209 deg,
      approach rate: -0.569432 m/s,
      LOS rate: -0.012455 deg/s,
      cmd heading: 265.603053 deg,
      new cmd heading: 265.587306 deg.

2025-01-08T17:31:22.857Z,1736357482.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635373 target range: 38.099998 and range: 38.10 m.
2025-01-08T17:31:22.968Z,1736357482.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750946
2025-01-08T17:31:23.216Z,1736357483.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999652
2025-01-08T17:31:23.290Z,1736357483.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:23.302Z,1736357483.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-01-08T17:31:23.309Z,1736357483.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 36.976929 m,
      bearing: 270.269791 deg,
      approach rate: -0.586995 m/s,
      LOS rate: -0.014392 deg/s,
      cmd heading: 265.587316 deg,
      new cmd heading: 265.567926 deg.

2025-01-08T17:31:23.312Z,1736357483.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635035 target range: 38.099998 and range: 38.10 m.
2025-01-08T17:31:23.468Z,1736357483.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251445
2025-01-08T17:31:23.632Z,1736357483.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:23.641Z,1736357483.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-01-08T17:31:23.645Z,1736357483.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 36.775726 m,
      bearing: 270.265133 deg,
      approach rate: -0.590965 m/s,
      LOS rate: -0.013755 deg/s,
      cmd heading: 265.567918 deg,
      new cmd heading: 265.553869 deg.

2025-01-08T17:31:23.646Z,1736357483.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.634789 target range: 38.099998 and range: 38.10 m.
2025-01-08T17:31:23.722Z,1736357483.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505013
2025-01-08T17:31:23.977Z,1736357483.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759416
2025-01-08T17:31:24.088Z,1736357484.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:24.097Z,1736357484.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-01-08T17:31:24.100Z,1736357484.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 36.500687 m,
      bearing: 270.254187 deg,
      approach rate: -0.603455 m/s,
      LOS rate: -0.024198 deg/s,
      cmd heading: 265.553875 deg,
      new cmd heading: 265.520788 deg.

2025-01-08T17:31:24.101Z,1736357484.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.634212 target range: 38.099998 and range: 38.10 m.
2025-01-08T17:31:24.226Z,1736357484.226 [DAT](INFO): DAT read: Rx Time:17:31:22.9400

2025-01-08T17:31:24.227Z,1736357484.227 [DAT](INFO): Rx dataTimestamp_ set to:1736357484.226733
2025-01-08T17:31:24.228Z,1736357484.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010985
2025-01-08T17:31:24.456Z,1736357484.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:24.462Z,1736357484.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:24.464Z,1736357484.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-01-08T17:31:24.467Z,1736357484.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 36.288254 m,
      bearing: 270.246336 deg,
      approach rate: -0.578592 m/s,
      LOS rate: -0.021509 deg/s,
      cmd heading: 265.520790 deg,
      new cmd heading: 265.497098 deg.

2025-01-08T17:31:24.468Z,1736357484.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.633799 target range: 38.099998 and range: 38.10 m.
2025-01-08T17:31:24.476Z,1736357484.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259686
2025-01-08T17:31:24.734Z,1736357484.734 [DAT](INFO): DAT read: 17:31:22.9400 LVL= 19936, 32113, 20178, 31683, AGC= 59, IDX= 412,-0.04,-1.341,-2.737,-1.485,-1.701, PHS= 0.448,-0.989, 0.213, RAW= 141.2,   5.0, CAL= 144.8,  -3.1, ROT=   5.2,   3.1

2025-01-08T17:31:24.735Z,1736357484.735 [DAT](INFO): got valid direction response:
 17:31:22.9400 LVL= 19936, 32113, 20178, 31683, AGC= 59, IDX= 412,-0.04,-1.341,-2.737,-1.485,-1.701, PHS= 0.448,-0.989, 0.213, RAW= 141.2,   5.0, CAL= 144.8,  -3.1, ROT=   5.2,   3.1

2025-01-08T17:31:24.736Z,1736357484.736 [DAT](INFO): DAT read: Bearing   5.2,   3.1 (Local)

2025-01-08T17:31:24.737Z,1736357484.737 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.2,   3.1 (Local)

2025-01-08T17:31:24.739Z,1736357484.739 [DAT](INFO): DAT read: Range 10 to 50 : 36.3 m  (Round-trip  48.4 ms) speed  0.5 m/s

2025-01-08T17:31:24.740Z,1736357484.740 [DAT](INFO): DAT read: user:220>

2025-01-08T17:31:24.740Z,1736357484.740 [DAT](INFO): DAT read: Tx time:17:31:24.0375

2025-01-08T17:31:24.741Z,1736357484.741 [DAT](INFO): Ping request sent.
2025-01-08T17:31:24.741Z,1736357484.741 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:31:24.741Z,1736357484.741 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:31:24.742Z,1736357484.742 [DAT](INFO): direction in FSK: [0.994427,0.090500,-0.054079]
2025-01-08T17:31:24.742Z,1736357484.742 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:24.743Z,1736357484.743 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:24.746Z,1736357484.746 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:24.746Z,1736357484.746 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:24.758Z,1736357484.758 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.016867
2025-01-08T17:31:24.884Z,1736357484.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:24.932Z,1736357484.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.299999 m,
      deltaT: 3.527898 s,
      deltaX: -1.799999 m,
      approachRate: -0.510219 m/s,
      rangeRepo size: 4

2025-01-08T17:31:24.945Z,1736357484.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.299999 m,
      bearing: 272.611572 deg,
      lat: 36.904154 deg,
      lon: -122.119125 deg,
      deltaT: 3.527898 s,
      deltaX: -1.799999 m,
      approachRate: -0.510219 m/s,
      posRepo size: 4

2025-01-08T17:31:24.945Z,1736357484.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-01-08T17:31:24.961Z,1736357484.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 36.232533 m,
      bearing: 270.424474 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021509 deg/s,
      cmd heading: 265.497103 deg,
      new cmd heading: 265.467486 deg.

2025-01-08T17:31:24.969Z,1736357484.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.633282 target range: 36.299999 and range: 36.30 m.
2025-01-08T17:31:24.984Z,1736357484.984 [DAT](INFO): DAT read: TxSync time:17:31:24.0367

2025-01-08T17:31:24.987Z,1736357484.987 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.245739
2025-01-08T17:31:25.238Z,1736357485.238 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.497038
2025-01-08T17:31:25.359Z,1736357485.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:25.376Z,1736357485.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-01-08T17:31:25.379Z,1736357485.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 35.939335 m,
      bearing: 270.417217 deg,
      approach rate: -0.647729 m/s,
      LOS rate: -0.016163 deg/s,
      cmd heading: 265.467487 deg,
      new cmd heading: 265.445538 deg.

2025-01-08T17:31:25.384Z,1736357485.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.632899 target range: 36.299999 and range: 36.30 m.
2025-01-08T17:31:25.484Z,1736357485.484 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.743522
2025-01-08T17:31:25.680Z,1736357485.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:25.719Z,1736357485.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-01-08T17:31:25.726Z,1736357485.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 35.723984 m,
      bearing: 270.412188 deg,
      approach rate: -0.628159 m/s,
      LOS rate: -0.014758 deg/s,
      cmd heading: 265.445549 deg,
      new cmd heading: 265.430370 deg.

2025-01-08T17:31:25.731Z,1736357485.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.632634 target range: 36.299999 and range: 36.30 m.
2025-01-08T17:31:25.736Z,1736357485.736 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.995708
2025-01-08T17:31:25.993Z,1736357485.993 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.251476
2025-01-08T17:31:26.128Z,1736357486.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:26.138Z,1736357486.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-01-08T17:31:26.141Z,1736357486.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 35.423290 m,
      bearing: 270.397137 deg,
      approach rate: -0.719116 m/s,
      LOS rate: -0.036299 deg/s,
      cmd heading: 265.430358 deg,
      new cmd heading: 265.384824 deg.

2025-01-08T17:31:26.142Z,1736357486.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631839 target range: 36.299999 and range: 36.30 m.
2025-01-08T17:31:26.243Z,1736357486.243 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.501517
2025-01-08T17:31:26.492Z,1736357486.492 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.751605
2025-01-08T17:31:26.509Z,1736357486.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:26.516Z,1736357486.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:26.518Z,1736357486.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-01-08T17:31:26.522Z,1736357486.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 35.168007 m,
      bearing: 270.385127 deg,
      approach rate: -0.670012 m/s,
      LOS rate: -0.031751 deg/s,
      cmd heading: 265.384815 deg,
      new cmd heading: 265.348522 deg.

2025-01-08T17:31:26.524Z,1736357486.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631206 target range: 36.299999 and range: 36.30 m.
2025-01-08T17:31:26.745Z,1736357486.745 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.003966
2025-01-08T17:31:26.889Z,1736357486.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:26.897Z,1736357486.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-01-08T17:31:26.901Z,1736357486.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 34.913258 m,
      bearing: 270.373341 deg,
      approach rate: -0.671381 m/s,
      LOS rate: -0.031288 deg/s,
      cmd heading: 265.348533 deg,
      new cmd heading: 265.312917 deg.

2025-01-08T17:31:26.902Z,1736357486.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630584 target range: 36.299999 and range: 36.30 m.
2025-01-08T17:31:27.001Z,1736357487.001 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.259315
2025-01-08T17:31:27.248Z,1736357487.248 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.507526
2025-01-08T17:31:27.345Z,1736357487.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:27.379Z,1736357487.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-01-08T17:31:27.382Z,1736357487.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 34.606007 m,
      bearing: 270.347952 deg,
      approach rate: -0.638088 m/s,
      LOS rate: -0.053195 deg/s,
      cmd heading: 265.312906 deg,
      new cmd heading: 265.236064 deg.

2025-01-08T17:31:27.383Z,1736357487.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.629242 target range: 36.299999 and range: 36.30 m.
2025-01-08T17:31:27.500Z,1736357487.500 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.759508
2025-01-08T17:31:27.711Z,1736357487.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:27.741Z,1736357487.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-01-08T17:31:27.747Z,1736357487.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 34.359116 m,
      bearing: 270.327735 deg,
      approach rate: -0.682487 m/s,
      LOS rate: -0.056287 deg/s,
      cmd heading: 265.236053 deg,
      new cmd heading: 265.174967 deg.

2025-01-08T17:31:27.749Z,1736357487.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628176 target range: 36.299999 and range: 36.30 m.
2025-01-08T17:31:27.753Z,1736357487.753 [DAT](INFO): DAT read: Rx Time:17:31:26.4871

2025-01-08T17:31:27.753Z,1736357487.753 [DAT](INFO): Rx dataTimestamp_ set to:1736357487.752780
2025-01-08T17:31:27.754Z,1736357487.754 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.012877
2025-01-08T17:31:28.005Z,1736357488.005 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.264086
2025-01-08T17:31:28.190Z,1736357488.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:28.246Z,1736357488.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.30 m.
2025-01-08T17:31:28.262Z,1736357488.262 [DAT](INFO): DAT read: 17:31:26.4871 LVL= 17824, 24369, 17762, 29843, AGC= 61, IDX= 414, 0.10,-0.966,-2.407,-1.095,-1.367, PHS= 0.489,-0.993, 0.269, RAW= 142.1,   3.4, CAL= 145.7,  -5.0, ROT=   4.3,   5.0

2025-01-08T17:31:28.263Z,1736357488.263 [DAT](INFO): got valid direction response:
 17:31:26.4871 LVL= 17824, 24369, 17762, 29843, AGC= 61, IDX= 414, 0.10,-0.966,-2.407,-1.095,-1.367, PHS= 0.489,-0.993, 0.269, RAW= 142.1,   3.4, CAL= 145.7,  -5.0, ROT=   4.3,   5.0

2025-01-08T17:31:28.264Z,1736357488.264 [DAT](INFO): DAT read: Bearing   4.3,   5.0 (Local)

2025-01-08T17:31:28.265Z,1736357488.265 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.3,   5.0 (Local)

2025-01-08T17:31:28.266Z,1736357488.266 [DAT](INFO): DAT read: Range 10 to 50 : 34.1 m  (Round-trip  45.5 ms) speed  0.6 m/s

2025-01-08T17:31:28.267Z,1736357488.267 [DAT](INFO): DAT read: user:221>

2025-01-08T17:31:28.268Z,1736357488.268 [DAT](INFO): DAT read: Tx time:17:31:27.5875

2025-01-08T17:31:28.269Z,1736357488.269 [DAT](INFO): Ping request sent.
2025-01-08T17:31:28.269Z,1736357488.269 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:31:28.269Z,1736357488.269 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-01-08T17:31:28.270Z,1736357488.270 [DAT](INFO): direction in FSK: [0.993391,0.074693,-0.087156]
2025-01-08T17:31:28.270Z,1736357488.270 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:28.271Z,1736357488.271 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:28.284Z,1736357488.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.299999 m,
      nav range: 34.040802 m,
      bearing: 270.299784 deg,
      approach rate: -0.629760 m/s,
      LOS rate: -0.055816 deg/s,
      cmd heading: 265.174964 deg,
      new cmd heading: 265.090327 deg.

2025-01-08T17:31:28.285Z,1736357488.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.626699 target range: 36.299999 and range: 36.30 m.
2025-01-08T17:31:28.291Z,1736357488.291 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:28.299Z,1736357488.299 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:28.303Z,1736357488.303 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.033820
2025-01-08T17:31:28.509Z,1736357488.509 [DAT](INFO): DAT read: TxSync time:17:31:27.5867

2025-01-08T17:31:28.510Z,1736357488.510 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.241700
2025-01-08T17:31:28.577Z,1736357488.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:28.604Z,1736357488.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.099998 m,
      deltaT: 3.528103 s,
      deltaX: -2.200001 m,
      approachRate: -0.623565 m/s,
      rangeRepo size: 4

2025-01-08T17:31:28.607Z,1736357488.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.099998 m,
      bearing: 271.068663 deg,
      lat: 36.904155 deg,
      lon: -122.119126 deg,
      deltaT: 3.528103 s,
      deltaX: -2.200001 m,
      approachRate: -0.623565 m/s,
      posRepo size: 4

2025-01-08T17:31:28.611Z,1736357488.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.10 m.
2025-01-08T17:31:28.614Z,1736357488.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.099998 m,
      nav range: 33.875172 m,
      bearing: 270.398962 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.055816 deg/s,
      cmd heading: 265.090324 deg,
      new cmd heading: 265.031296 deg.

2025-01-08T17:31:28.627Z,1736357488.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.625669 target range: 34.099998 and range: 34.10 m.
2025-01-08T17:31:28.761Z,1736357488.760 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.491706
2025-01-08T17:31:28.979Z,1736357488.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:28.986Z,1736357488.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:28.989Z,1736357488.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.10 m.
2025-01-08T17:31:28.992Z,1736357488.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.099998 m,
      nav range: 33.607159 m,
      bearing: 270.379692 deg,
      approach rate: -0.686926 m/s,
      LOS rate: -0.049783 deg/s,
      cmd heading: 265.031284 deg,
      new cmd heading: 264.973014 deg.

2025-01-08T17:31:28.994Z,1736357488.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.624651 target range: 34.099998 and range: 34.10 m.
2025-01-08T17:31:29.016Z,1736357489.016 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.746058
2025-01-08T17:31:29.264Z,1736357489.264 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.995597
2025-01-08T17:31:29.401Z,1736357489.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:29.438Z,1736357489.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.10 m.
2025-01-08T17:31:29.445Z,1736357489.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.099998 m,
      nav range: 33.340405 m,
      bearing: 270.367764 deg,
      approach rate: -0.595065 m/s,
      LOS rate: -0.026822 deg/s,
      cmd heading: 264.973009 deg,
      new cmd heading: 264.936938 deg.

2025-01-08T17:31:29.446Z,1736357489.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.624022 target range: 34.099998 and range: 34.10 m.
2025-01-08T17:31:29.517Z,1736357489.517 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.248148
2025-01-08T17:31:29.768Z,1736357489.768 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.499384
2025-01-08T17:31:29.782Z,1736357489.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:29.793Z,1736357489.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.10 m.
2025-01-08T17:31:29.796Z,1736357489.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.099998 m,
      nav range: 33.098679 m,
      bearing: 270.358413 deg,
      approach rate: -0.680001 m/s,
      LOS rate: -0.026496 deg/s,
      cmd heading: 264.936945 deg,
      new cmd heading: 264.908689 deg.

2025-01-08T17:31:29.797Z,1736357489.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.623529 target range: 34.099998 and range: 34.10 m.
2025-01-08T17:31:30.022Z,1736357490.022 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.752790
2025-01-08T17:31:30.201Z,1736357490.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:30.210Z,1736357490.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.10 m.
2025-01-08T17:31:30.214Z,1736357490.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.099998 m,
      nav range: 32.839809 m,
      bearing: 270.342200 deg,
      approach rate: -0.619768 m/s,
      LOS rate: -0.039123 deg/s,
      cmd heading: 264.908696 deg,
      new cmd heading: 264.859672 deg.

2025-01-08T17:31:30.215Z,1736357490.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.622674 target range: 34.099998 and range: 34.10 m.
2025-01-08T17:31:30.273Z,1736357490.273 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.004225
2025-01-08T17:31:30.524Z,1736357490.524 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.255518
2025-01-08T17:31:30.592Z,1736357490.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:30.601Z,1736357490.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.10 m.
2025-01-08T17:31:30.605Z,1736357490.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.099998 m,
      nav range: 32.598068 m,
      bearing: 270.326832 deg,
      approach rate: -0.618989 m/s,
      LOS rate: -0.039641 deg/s,
      cmd heading: 264.859682 deg,
      new cmd heading: 264.813238 deg.

2025-01-08T17:31:30.606Z,1736357490.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.621863 target range: 34.099998 and range: 34.10 m.
2025-01-08T17:31:30.776Z,1736357490.776 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.507546
2025-01-08T17:31:30.994Z,1736357490.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:31.001Z,1736357491.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:31.003Z,1736357491.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.10 m.
2025-01-08T17:31:31.007Z,1736357491.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.099998 m,
      nav range: 32.349091 m,
      bearing: 270.310297 deg,
      approach rate: -0.618744 m/s,
      LOS rate: -0.041408 deg/s,
      cmd heading: 264.813237 deg,
      new cmd heading: 264.763250 deg.

2025-01-08T17:31:31.008Z,1736357491.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620990 target range: 34.099998 and range: 34.10 m.
2025-01-08T17:31:31.029Z,1736357491.029 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.760692
2025-01-08T17:31:31.281Z,1736357491.281 [DAT](INFO): DAT read: Rx Time:17:31:30.0337

2025-01-08T17:31:31.281Z,1736357491.281 [DAT](INFO): Rx dataTimestamp_ set to:1736357491.280794
2025-01-08T17:31:31.282Z,1736357491.282 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.012855
2025-01-08T17:31:31.427Z,1736357491.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:31.444Z,1736357491.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.10 m.
2025-01-08T17:31:31.447Z,1736357491.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.099998 m,
      nav range: 32.093159 m,
      bearing: 270.300508 deg,
      approach rate: -0.580573 m/s,
      LOS rate: -0.022383 deg/s,
      cmd heading: 264.763240 deg,
      new cmd heading: 264.733639 deg.

2025-01-08T17:31:31.448Z,1736357491.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620474 target range: 34.099998 and range: 34.10 m.
2025-01-08T17:31:31.532Z,1736357491.532 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.263669
2025-01-08T17:31:31.790Z,1736357491.790 [DAT](INFO): DAT read: 17:31:30.0337 LVL= 19936, 32753, 18978, 32755, AGC= 57, IDX= 412,-0.25,-0.661,-2.034,-0.793,-1.014, PHS= 0.440,-0.974, 0.218, RAW= 141.6,   4.8, CAL= 145.1,  -3.3, ROT=   4.9,   3.3

2025-01-08T17:31:31.792Z,1736357491.792 [DAT](INFO): got valid direction response:
 17:31:30.0337 LVL= 19936, 32753, 18978, 32755, AGC= 57, IDX= 412,-0.25,-0.661,-2.034,-0.793,-1.014, PHS= 0.440,-0.974, 0.218, RAW= 141.6,   4.8, CAL= 145.1,  -3.3, ROT=   4.9,   3.3

2025-01-08T17:31:31.793Z,1736357491.793 [DAT](INFO): DAT read: Bearing   4.9,   3.3 (Local)

2025-01-08T17:31:31.793Z,1736357491.793 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.9,   3.3 (Local)

2025-01-08T17:31:31.794Z,1736357491.794 [DAT](INFO): DAT read: Range 10 to 50 : 31.5 m  (Round-trip  42.1 ms) speed  0.5 m/s

2025-01-08T17:31:31.799Z,1736357491.799 [DAT](INFO): DAT read: user:222>

2025-01-08T17:31:31.817Z,1736357491.817 [DAT](INFO): DAT read: Tx time:17:31:31.1375

2025-01-08T17:31:31.817Z,1736357491.817 [DAT](INFO): Ping request sent.
2025-01-08T17:31:31.817Z,1736357491.817 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:31:31.817Z,1736357491.817 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-01-08T17:31:31.818Z,1736357491.818 [DAT](INFO): direction in FSK: [0.994693,0.085275,-0.057564]
2025-01-08T17:31:31.819Z,1736357491.819 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:31.819Z,1736357491.819 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:31.823Z,1736357491.823 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:31.852Z,1736357491.852 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:31.869Z,1736357491.869 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.052066
2025-01-08T17:31:31.899Z,1736357491.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:31.959Z,1736357491.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.500000 m,
      deltaT: 3.527792 s,
      deltaX: -2.599998 m,
      approachRate: -0.737004 m/s,
      rangeRepo size: 4

2025-01-08T17:31:31.969Z,1736357491.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.500000 m,
      bearing: 270.998176 deg,
      lat: 36.904159 deg,
      lon: -122.119125 deg,
      deltaT: 3.527792 s,
      deltaX: -2.599998 m,
      approachRate: -0.737004 m/s,
      posRepo size: 4

2025-01-08T17:31:31.970Z,1736357491.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-01-08T17:31:31.981Z,1736357491.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.500000 m,
      nav range: 31.728319 m,
      bearing: 270.990455 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022383 deg/s,
      cmd heading: 264.733652 deg,
      new cmd heading: 264.699254 deg.

2025-01-08T17:31:31.982Z,1736357491.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.619874 target range: 31.500000 and range: 31.50 m.
2025-01-08T17:31:32.037Z,1736357492.037 [DAT](INFO): DAT read: TxSync time:17:31:31.1367

2025-01-08T17:31:32.038Z,1736357492.038 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.220926
2025-01-08T17:31:32.288Z,1736357492.288 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.471183
2025-01-08T17:31:32.375Z,1736357492.375 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:32.383Z,1736357492.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-01-08T17:31:32.386Z,1736357492.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.500000 m,
      nav range: 31.453447 m,
      bearing: 270.989645 deg,
      approach rate: -0.644304 m/s,
      LOS rate: -0.001917 deg/s,
      cmd heading: 264.699255 deg,
      new cmd heading: 264.696801 deg.

2025-01-08T17:31:32.387Z,1736357492.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.619831 target range: 31.500000 and range: 31.50 m.
2025-01-08T17:31:32.540Z,1736357492.540 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.723103
2025-01-08T17:31:32.722Z,1736357492.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:32.732Z,1736357492.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-01-08T17:31:32.739Z,1736357492.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.500000 m,
      nav range: 31.254210 m,
      bearing: 270.989609 deg,
      approach rate: -0.572873 m/s,
      LOS rate: -0.000105 deg/s,
      cmd heading: 264.696796 deg,
      new cmd heading: 264.696687 deg.

2025-01-08T17:31:32.740Z,1736357492.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.619829 target range: 31.500000 and range: 31.50 m.
2025-01-08T17:31:32.794Z,1736357492.794 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.976167
2025-01-08T17:31:33.044Z,1736357493.044 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.227058
2025-01-08T17:31:33.201Z,1736357493.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:33.210Z,1736357493.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:33.212Z,1736357493.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-01-08T17:31:33.215Z,1736357493.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.500000 m,
      nav range: 30.990122 m,
      bearing: 270.996859 deg,
      approach rate: -0.548588 m/s,
      LOS rate: 0.015190 deg/s,
      cmd heading: 264.696687 deg,
      new cmd heading: 264.718624 deg.

2025-01-08T17:31:33.216Z,1736357493.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620212 target range: 31.500000 and range: 31.50 m.
2025-01-08T17:31:33.296Z,1736357493.296 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.479132
2025-01-08T17:31:33.535Z,1736357493.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:33.545Z,1736357493.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-01-08T17:31:33.548Z,1736357493.548 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.731212
2025-01-08T17:31:33.564Z,1736357493.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.500000 m,
      nav range: 30.805841 m,
      bearing: 271.001993 deg,
      approach rate: -0.553343 m/s,
      LOS rate: 0.015506 deg/s,
      cmd heading: 264.718625 deg,
      new cmd heading: 264.734117 deg.

2025-01-08T17:31:33.565Z,1736357493.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620482 target range: 31.500000 and range: 31.50 m.
2025-01-08T17:31:33.800Z,1736357493.800 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.983101
2025-01-08T17:31:33.922Z,1736357493.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:33.930Z,1736357493.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-01-08T17:31:33.953Z,1736357493.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.500000 m,
      nav range: 30.592964 m,
      bearing: 271.006923 deg,
      approach rate: -0.552681 m/s,
      LOS rate: 0.012888 deg/s,
      cmd heading: 264.734116 deg,
      new cmd heading: 264.749009 deg.

2025-01-08T17:31:33.960Z,1736357493.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620742 target range: 31.500000 and range: 31.50 m.
2025-01-08T17:31:34.053Z,1736357494.053 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.235907
2025-01-08T17:31:34.306Z,1736357494.306 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.488311
2025-01-08T17:31:34.363Z,1736357494.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:34.392Z,1736357494.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-01-08T17:31:34.400Z,1736357494.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.500000 m,
      nav range: 30.346302 m,
      bearing: 271.021417 deg,
      approach rate: -0.539853 m/s,
      LOS rate: 0.031981 deg/s,
      cmd heading: 264.749006 deg,
      new cmd heading: 264.792842 deg.

2025-01-08T17:31:34.401Z,1736357494.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.621507 target range: 31.500000 and range: 31.50 m.
2025-01-08T17:31:34.556Z,1736357494.556 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.739107
2025-01-08T17:31:34.740Z,1736357494.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:34.748Z,1736357494.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-01-08T17:31:34.759Z,1736357494.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.500000 m,
      nav range: 30.135616 m,
      bearing: 271.033686 deg,
      approach rate: -0.583418 m/s,
      LOS rate: 0.034213 deg/s,
      cmd heading: 264.792856 deg,
      new cmd heading: 264.829922 deg.

2025-01-08T17:31:34.760Z,1736357494.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.622154 target range: 31.500000 and range: 31.50 m.
2025-01-08T17:31:34.809Z,1736357494.809 [DAT](INFO): DAT read: Rx Time:17:31:33.5810

2025-01-08T17:31:34.810Z,1736357494.810 [DAT](INFO): Rx dataTimestamp_ set to:1736357494.809621
2025-01-08T17:31:34.811Z,1736357494.811 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.993557
2025-01-08T17:31:35.060Z,1736357495.060 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.243246
2025-01-08T17:31:35.236Z,1736357495.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:35.248Z,1736357495.248 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:35.250Z,1736357495.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.50 m.
2025-01-08T17:31:35.253Z,1736357495.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.500000 m,
      nav range: 29.850679 m,
      bearing: 271.049660 deg,
      approach rate: -0.567929 m/s,
      LOS rate: 0.032143 deg/s,
      cmd heading: 264.829930 deg,
      new cmd heading: 264.878310 deg.

2025-01-08T17:31:35.255Z,1736357495.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.622999 target range: 31.500000 and range: 31.50 m.
2025-01-08T17:31:35.325Z,1736357495.325 [DAT](INFO): DAT read: 17:31:33.5810 LVL= 19664, 27585, 19442, 32243, AGC= 58, IDX= 415, 0.49, 0.729,-0.722, 0.684, 0.335, PHS= 0.482,-1.009, 0.346, RAW= 145.3,   2.6, CAL= 148.5,  -6.2, ROT=   1.5,   6.2

2025-01-08T17:31:35.326Z,1736357495.326 [DAT](INFO): got valid direction response:
 17:31:33.5810 LVL= 19664, 27585, 19442, 32243, AGC= 58, IDX= 415, 0.49, 0.729,-0.722, 0.684, 0.335, PHS= 0.482,-1.009, 0.346, RAW= 145.3,   2.6, CAL= 148.5,  -6.2, ROT=   1.5,   6.2

2025-01-08T17:31:35.327Z,1736357495.327 [DAT](INFO): DAT read: Bearing   1.5,   6.2 (Local)

2025-01-08T17:31:35.328Z,1736357495.328 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.5,   6.2 (Local)

2025-01-08T17:31:35.329Z,1736357495.329 [DAT](INFO): DAT read: Range 10 to 50 : 29.5 m  (Round-trip  39.4 ms) speed  0.4 m/s

2025-01-08T17:31:35.330Z,1736357495.330 [DAT](INFO): DAT read: user:223>

2025-01-08T17:31:35.331Z,1736357495.331 [DAT](INFO): DAT read: Tx time:17:31:34.6875

2025-01-08T17:31:35.331Z,1736357495.331 [DAT](INFO): Ping request sent.
2025-01-08T17:31:35.333Z,1736357495.333 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:31:35.334Z,1736357495.334 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-01-08T17:31:35.335Z,1736357495.335 [DAT](INFO): direction in FSK: [0.993810,0.026024,-0.107999]
2025-01-08T17:31:35.337Z,1736357495.337 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:35.338Z,1736357495.338 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:35.345Z,1736357495.345 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:35.346Z,1736357495.346 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:35.358Z,1736357495.358 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.026644
2025-01-08T17:31:35.565Z,1736357495.565 [DAT](INFO): DAT read: TxSync time:17:31:34.6867

2025-01-08T17:31:35.565Z,1736357495.565 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.234322
2025-01-08T17:31:35.613Z,1736357495.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:35.646Z,1736357495.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.500000 m,
      deltaT: 3.529119 s,
      deltaX: -2.000000 m,
      approachRate: -0.566714 m/s,
      rangeRepo size: 4

2025-01-08T17:31:35.649Z,1736357495.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.500000 m,
      bearing: 268.408281 deg,
      lat: 36.904159 deg,
      lon: -122.119122 deg,
      deltaT: 3.529119 s,
      deltaX: -2.000000 m,
      approachRate: -0.566714 m/s,
      posRepo size: 4

2025-01-08T17:31:35.650Z,1736357495.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.50 m.
2025-01-08T17:31:35.661Z,1736357495.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.500000 m,
      nav range: 29.385073 m,
      bearing: 271.070570 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.032143 deg/s,
      cmd heading: 264.878315 deg,
      new cmd heading: 264.916386 deg.

2025-01-08T17:31:35.662Z,1736357495.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.623663 target range: 29.500000 and range: 29.50 m.
2025-01-08T17:31:35.817Z,1736357495.817 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.485513
2025-01-08T17:31:35.996Z,1736357495.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:36.017Z,1736357496.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.50 m.
2025-01-08T17:31:36.024Z,1736357496.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.500000 m,
      nav range: 29.164867 m,
      bearing: 271.083591 deg,
      approach rate: -0.592477 m/s,
      LOS rate: 0.035298 deg/s,
      cmd heading: 264.916373 deg,
      new cmd heading: 264.955730 deg.

2025-01-08T17:31:36.025Z,1736357496.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.624350 target range: 29.500000 and range: 29.50 m.
2025-01-08T17:31:36.070Z,1736357496.070 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.738747
2025-01-08T17:31:36.321Z,1736357496.321 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.989449
2025-01-08T17:31:36.442Z,1736357496.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:36.470Z,1736357496.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.50 m.
2025-01-08T17:31:36.477Z,1736357496.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.500000 m,
      nav range: 28.896013 m,
      bearing: 271.112850 deg,
      approach rate: -0.592677 m/s,
      LOS rate: 0.065100 deg/s,
      cmd heading: 264.955742 deg,
      new cmd heading: 265.044335 deg.

2025-01-08T17:31:36.478Z,1736357496.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.625896 target range: 29.500000 and range: 29.50 m.
2025-01-08T17:31:36.572Z,1736357496.572 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.241330
2025-01-08T17:31:36.824Z,1736357496.824 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.493406
2025-01-08T17:31:36.827Z,1736357496.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:36.852Z,1736357496.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.50 m.
2025-01-08T17:31:36.856Z,1736357496.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.500000 m,
      nav range: 28.663546 m,
      bearing: 271.138592 deg,
      approach rate: -0.608683 m/s,
      LOS rate: 0.067949 deg/s,
      cmd heading: 265.044343 deg,
      new cmd heading: 265.122196 deg.

2025-01-08T17:31:36.857Z,1736357496.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.627255 target range: 29.500000 and range: 29.50 m.
2025-01-08T17:31:37.079Z,1736357497.079 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.747655
2025-01-08T17:31:37.252Z,1736357497.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:37.260Z,1736357497.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:37.262Z,1736357497.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.50 m.
2025-01-08T17:31:37.265Z,1736357497.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.500000 m,
      nav range: 28.392315 m,
      bearing: 271.164094 deg,
      approach rate: -0.661677 m/s,
      LOS rate: 0.062808 deg/s,
      cmd heading: 265.122207 deg,
      new cmd heading: 265.199446 deg.

2025-01-08T17:31:37.266Z,1736357497.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628603 target range: 29.500000 and range: 29.50 m.
2025-01-08T17:31:37.330Z,1736357497.330 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.999408
2025-01-08T17:31:37.580Z,1736357497.580 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.249309
2025-01-08T17:31:37.621Z,1736357497.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:37.631Z,1736357497.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.50 m.
2025-01-08T17:31:37.634Z,1736357497.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.500000 m,
      nav range: 28.156775 m,
      bearing: 271.186437 deg,
      approach rate: -0.638712 m/s,
      LOS rate: 0.061094 deg/s,
      cmd heading: 265.199443 deg,
      new cmd heading: 265.267033 deg.

2025-01-08T17:31:37.636Z,1736357497.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.629783 target range: 29.500000 and range: 29.50 m.
2025-01-08T17:31:37.833Z,1736357497.833 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.501875
2025-01-08T17:31:38.025Z,1736357498.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:38.033Z,1736357498.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.50 m.
2025-01-08T17:31:38.036Z,1736357498.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.500000 m,
      nav range: 27.899576 m,
      bearing: 271.210935 deg,
      approach rate: -0.639266 m/s,
      LOS rate: 0.061449 deg/s,
      cmd heading: 265.267035 deg,
      new cmd heading: 265.341204 deg.

2025-01-08T17:31:38.038Z,1736357498.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631078 target range: 29.500000 and range: 29.50 m.
2025-01-08T17:31:38.084Z,1736357498.084 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.753400
2025-01-08T17:31:38.336Z,1736357498.336 [DAT](INFO): DAT read: Rx Time:17:31:37.1286

2025-01-08T17:31:38.337Z,1736357498.337 [DAT](INFO): Rx dataTimestamp_ set to:1736357498.336470
2025-01-08T17:31:38.338Z,1736357498.338 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.007074
2025-01-08T17:31:38.469Z,1736357498.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:38.477Z,1736357498.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.50 m.
2025-01-08T17:31:38.481Z,1736357498.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.500000 m,
      nav range: 27.600315 m,
      bearing: 271.231686 deg,
      approach rate: -0.673911 m/s,
      LOS rate: 0.047237 deg/s,
      cmd heading: 265.341211 deg,
      new cmd heading: 265.404139 deg.

2025-01-08T17:31:38.482Z,1736357498.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.632176 target range: 29.500000 and range: 29.50 m.
2025-01-08T17:31:38.589Z,1736357498.589 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.257705
2025-01-08T17:31:38.843Z,1736357498.843 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.511118
2025-01-08T17:31:38.890Z,1736357498.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:38.900Z,1736357498.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.50 m.
2025-01-08T17:31:38.903Z,1736357498.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.500000 m,
      nav range: 27.316397 m,
      bearing: 271.251576 deg,
      approach rate: -0.672615 m/s,
      LOS rate: 0.047610 deg/s,
      cmd heading: 265.404130 deg,
      new cmd heading: 265.464421 deg.

2025-01-08T17:31:38.905Z,1736357498.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.633228 target range: 29.500000 and range: 29.50 m.
2025-01-08T17:31:39.099Z,1736357499.099 [DAT](INFO): DAT read: 17:31:37.1286 LVL= 19696, 32753, 18594, 32755, AGC= 56, IDX= 422,-0.26,-2.820, 2.068,-2.865, 3.103, PHS= 0.448,-0.988, 0.312, RAW= 145.1,   3.4, CAL= 148.1,  -5.3, ROT=   1.9,   5.3

2025-01-08T17:31:39.100Z,1736357499.100 [DAT](INFO): got valid direction response:
 17:31:37.1286 LVL= 19696, 32753, 18594, 32755, AGC= 56, IDX= 422,-0.26,-2.820, 2.068,-2.865, 3.103, PHS= 0.448,-0.988, 0.312, RAW= 145.1,   3.4, CAL= 148.1,  -5.3, ROT=   1.9,   5.3

2025-01-08T17:31:39.102Z,1736357499.102 [DAT](INFO): DAT read: Bearing   1.9,   5.3 (Local)

2025-01-08T17:31:39.102Z,1736357499.102 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.9,   5.3 (Local)

2025-01-08T17:31:39.106Z,1736357499.106 [DAT](INFO): DAT read: Range 10 to 50 : 27.6 m  (Round-trip  36.9 ms) speed  0.6 m/s

2025-01-08T17:31:39.107Z,1736357499.107 [DAT](INFO): DAT read: user:224>

2025-01-08T17:31:39.108Z,1736357499.108 [DAT](INFO): DAT read: Tx time:17:31:38.2375

2025-01-08T17:31:39.108Z,1736357499.108 [DAT](INFO): Ping request sent.
2025-01-08T17:31:39.108Z,1736357499.108 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:31:39.109Z,1736357499.109 [DAT](INFO): DAT read: TxSync time:17:31:38.2368

2025-01-08T17:31:39.109Z,1736357499.109 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-01-08T17:31:39.110Z,1736357499.110 [DAT](INFO): direction in FSK: [0.995177,0.033013,-0.092371]
2025-01-08T17:31:39.111Z,1736357499.111 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:39.111Z,1736357499.111 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:39.120Z,1736357499.120 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:39.120Z,1736357499.120 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:39.124Z,1736357499.124 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.016025
2025-01-08T17:31:39.345Z,1736357499.345 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.236101
2025-01-08T17:31:39.358Z,1736357499.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:39.383Z,1736357499.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.600000 m,
      deltaT: 3.779133 s,
      deltaX: -1.900000 m,
      approachRate: -0.502761 m/s,
      rangeRepo size: 4

2025-01-08T17:31:39.390Z,1736357499.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.600000 m,
      bearing: 268.610574 deg,
      lat: 36.904159 deg,
      lon: -122.119125 deg,
      deltaT: 3.779133 s,
      deltaX: -1.900000 m,
      approachRate: -0.502761 m/s,
      posRepo size: 4

2025-01-08T17:31:39.391Z,1736357499.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.60 m.
2025-01-08T17:31:39.404Z,1736357499.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.600000 m,
      nav range: 27.241840 m,
      bearing: 271.254237 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.047610 deg/s,
      cmd heading: 265.464427 deg,
      new cmd heading: 265.533374 deg.

2025-01-08T17:31:39.405Z,1736357499.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.634432 target range: 27.600000 and range: 27.60 m.
2025-01-08T17:31:39.597Z,1736357499.597 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.488290
2025-01-08T17:31:39.667Z,1736357499.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:39.674Z,1736357499.674 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:39.678Z,1736357499.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.60 m.
2025-01-08T17:31:39.682Z,1736357499.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.600000 m,
      nav range: 27.028234 m,
      bearing: 271.264781 deg,
      approach rate: -0.723614 m/s,
      LOS rate: 0.036004 deg/s,
      cmd heading: 265.533385 deg,
      new cmd heading: 265.565269 deg.

2025-01-08T17:31:39.684Z,1736357499.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.634988 target range: 27.600000 and range: 27.60 m.
2025-01-08T17:31:39.848Z,1736357499.848 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.740041
2025-01-08T17:31:40.068Z,1736357500.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:40.077Z,1736357500.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.60 m.
2025-01-08T17:31:40.080Z,1736357500.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.600000 m,
      nav range: 26.751112 m,
      bearing: 271.278740 deg,
      approach rate: -0.692974 m/s,
      LOS rate: 0.035266 deg/s,
      cmd heading: 265.565268 deg,
      new cmd heading: 265.607577 deg.

2025-01-08T17:31:40.081Z,1736357500.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635727 target range: 27.600000 and range: 27.60 m.
2025-01-08T17:31:40.100Z,1736357500.100 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.991799
2025-01-08T17:31:40.353Z,1736357500.353 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.244132
2025-01-08T17:31:40.502Z,1736357500.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:40.510Z,1736357500.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.60 m.
2025-01-08T17:31:40.530Z,1736357500.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.600000 m,
      nav range: 26.449335 m,
      bearing: 271.291030 deg,
      approach rate: -0.696959 m/s,
      LOS rate: 0.028707 deg/s,
      cmd heading: 265.607588 deg,
      new cmd heading: 265.644878 deg.

2025-01-08T17:31:40.548Z,1736357500.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.636378 target range: 27.600000 and range: 27.60 m.
2025-01-08T17:31:40.606Z,1736357500.606 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.498055
2025-01-08T17:31:40.862Z,1736357500.862 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.753158
2025-01-08T17:31:40.909Z,1736357500.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:40.917Z,1736357500.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.60 m.
2025-01-08T17:31:40.922Z,1736357500.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.600000 m,
      nav range: 26.166136 m,
      bearing: 271.303799 deg,
      approach rate: -0.695218 m/s,
      LOS rate: 0.031686 deg/s,
      cmd heading: 265.644881 deg,
      new cmd heading: 265.683604 deg.

2025-01-08T17:31:40.923Z,1736357500.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.637053 target range: 27.600000 and range: 27.60 m.
2025-01-08T17:31:41.112Z,1736357501.112 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.003830
2025-01-08T17:31:41.348Z,1736357501.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:41.362Z,1736357501.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.60 m.
2025-01-08T17:31:41.364Z,1736357501.364 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.256042
2025-01-08T17:31:41.366Z,1736357501.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.600000 m,
      nav range: 25.868828 m,
      bearing: 271.294816 deg,
      approach rate: -0.669151 m/s,
      LOS rate: -0.020451 deg/s,
      cmd heading: 265.683594 deg,
      new cmd heading: 265.656334 deg.

2025-01-08T17:31:41.368Z,1736357501.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.636578 target range: 27.600000 and range: 27.60 m.
2025-01-08T17:31:41.617Z,1736357501.617 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.508158
2025-01-08T17:31:41.690Z,1736357501.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:41.701Z,1736357501.701 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:41.705Z,1736357501.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.60 m.
2025-01-08T17:31:41.709Z,1736357501.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.600000 m,
      nav range: 25.637241 m,
      bearing: 271.288273 deg,
      approach rate: -0.675091 m/s,
      LOS rate: -0.019244 deg/s,
      cmd heading: 265.656328 deg,
      new cmd heading: 265.636523 deg.

2025-01-08T17:31:41.711Z,1736357501.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.636232 target range: 27.600000 and range: 27.60 m.
2025-01-08T17:31:41.869Z,1736357501.869 [DAT](INFO): DAT read: Rx Time:17:31:40.6753

2025-01-08T17:31:41.869Z,1736357501.869 [DAT](INFO): Rx dataTimestamp_ set to:1736357501.868713
2025-01-08T17:31:41.870Z,1736357501.870 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.761160
2025-01-08T17:31:42.108Z,1736357502.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:42.117Z,1736357502.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.60 m.
2025-01-08T17:31:42.121Z,1736357502.121 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.012731
2025-01-08T17:31:42.122Z,1736357502.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.600000 m,
      nav range: 25.353559 m,
      bearing: 271.280096 deg,
      approach rate: -0.688299 m/s,
      LOS rate: -0.020062 deg/s,
      cmd heading: 265.636521 deg,
      new cmd heading: 265.611715 deg.

2025-01-08T17:31:42.144Z,1736357502.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635799 target range: 27.600000 and range: 27.60 m.
2025-01-08T17:31:42.375Z,1736357502.375 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.265785
2025-01-08T17:31:42.534Z,1736357502.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:42.543Z,1736357502.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.60 m.
2025-01-08T17:31:42.546Z,1736357502.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.600000 m,
      nav range: 25.076263 m,
      bearing: 271.272372 deg,
      approach rate: -0.651350 m/s,
      LOS rate: -0.018343 deg/s,
      cmd heading: 265.611713 deg,
      new cmd heading: 265.588286 deg.

2025-01-08T17:31:42.547Z,1736357502.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635390 target range: 27.600000 and range: 27.60 m.
2025-01-08T17:31:42.634Z,1736357502.634 [DAT](INFO): DAT read: 17:31:40.6753 LVL= 18368, 29121, 18242, 30899, AGC= 59, IDX= 405,-0.38,-2.559, 2.308,-2.548,-2.923, PHS= 0.452,-1.005, 0.372, RAW= 147.2,   2.6, CAL= 150.1,  -6.3, ROT= 359.9,   6.3

2025-01-08T17:31:42.635Z,1736357502.635 [DAT](INFO): got valid direction response:
 17:31:40.6753 LVL= 18368, 29121, 18242, 30899, AGC= 59, IDX= 405,-0.38,-2.559, 2.308,-2.548,-2.923, PHS= 0.452,-1.005, 0.372, RAW= 147.2,   2.6, CAL= 150.1,  -6.3, ROT= 359.9,   6.3

2025-01-08T17:31:42.636Z,1736357502.636 [DAT](INFO): DAT read: Bearing 359.9,   6.3 (Local)

2025-01-08T17:31:42.636Z,1736357502.636 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.9,   6.3 (Local)

2025-01-08T17:31:42.639Z,1736357502.639 [DAT](INFO): DAT read: Range 10 to 50 : 25.2 m  (Round-trip  33.6 ms) speed  0.7 m/s

2025-01-08T17:31:42.643Z,1736357502.643 [DAT](INFO): DAT read: user:225>

2025-01-08T17:31:42.645Z,1736357502.645 [DAT](INFO): DAT read: Tx time:17:31:41.7891

2025-01-08T17:31:42.646Z,1736357502.646 [DAT](INFO): Ping request sent.
2025-01-08T17:31:42.646Z,1736357502.646 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:31:42.646Z,1736357502.646 [DAT](INFO): DAT read: TxSync time:17:31:41.7883

2025-01-08T17:31:42.647Z,1736357502.647 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-01-08T17:31:42.656Z,1736357502.656 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:31:42.662Z,1736357502.662 [DAT](INFO): direction in FSK: [0.993959,-0.001735,-0.109734]
2025-01-08T17:31:42.662Z,1736357502.662 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:42.663Z,1736357502.663 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:42.674Z,1736357502.674 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:42.675Z,1736357502.675 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:42.704Z,1736357502.704 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.058640
2025-01-08T17:31:42.876Z,1736357502.876 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.230531
2025-01-08T17:31:42.912Z,1736357502.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:42.938Z,1736357502.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 3.533953 s,
      deltaX: -2.400000 m,
      approachRate: -0.679126 m/s,
      rangeRepo size: 4

2025-01-08T17:31:42.945Z,1736357502.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.200001 m,
      bearing: 266.306947 deg,
      lat: 36.904147 deg,
      lon: -122.119127 deg,
      deltaT: 3.533953 s,
      deltaX: -2.400000 m,
      approachRate: -0.679126 m/s,
      posRepo size: 4

2025-01-08T17:31:42.945Z,1736357502.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.20 m.
2025-01-08T17:31:42.952Z,1736357502.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.200001 m,
      nav range: 25.062527 m,
      bearing: 268.364446 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018343 deg/s,
      cmd heading: 265.588300 deg,
      new cmd heading: 265.566623 deg.

2025-01-08T17:31:42.954Z,1736357502.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635012 target range: 25.200001 and range: 25.20 m.
2025-01-08T17:31:43.129Z,1736357503.129 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.483310
2025-01-08T17:31:43.346Z,1736357503.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:43.355Z,1736357503.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.20 m.
2025-01-08T17:31:43.358Z,1736357503.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.200001 m,
      nav range: 24.798117 m,
      bearing: 268.315561 deg,
      approach rate: -0.631898 m/s,
      LOS rate: -0.118073 deg/s,
      cmd heading: 265.566634 deg,
      new cmd heading: 265.418416 deg.

2025-01-08T17:31:43.359Z,1736357503.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.632425 target range: 25.200001 and range: 25.20 m.
2025-01-08T17:31:43.385Z,1736357503.385 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.739267
2025-01-08T17:31:43.638Z,1736357503.638 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.991915
2025-01-08T17:31:43.666Z,1736357503.666 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:31:43.725Z,1736357503.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:43.734Z,1736357503.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:43.736Z,1736357503.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.20 m.
2025-01-08T17:31:43.740Z,1736357503.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.200001 m,
      nav range: 24.566753 m,
      bearing: 268.272317 deg,
      approach rate: -0.607262 m/s,
      LOS rate: -0.114574 deg/s,
      cmd heading: 265.418419 deg,
      new cmd heading: 265.287463 deg.

2025-01-08T17:31:43.741Z,1736357503.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630140 target range: 25.200001 and range: 25.20 m.
2025-01-08T17:31:43.889Z,1736357503.889 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.243010
2025-01-08T17:31:44.113Z,1736357504.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:44.122Z,1736357504.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.20 m.
2025-01-08T17:31:44.125Z,1736357504.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.200001 m,
      nav range: 24.330629 m,
      bearing: 268.227219 deg,
      approach rate: -0.611122 m/s,
      LOS rate: -0.117853 deg/s,
      cmd heading: 265.287471 deg,
      new cmd heading: 265.150863 deg.

2025-01-08T17:31:44.126Z,1736357504.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.627756 target range: 25.200001 and range: 25.20 m.
2025-01-08T17:31:44.140Z,1736357504.140 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.494592
2025-01-08T17:31:44.392Z,1736357504.392 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.746600
2025-01-08T17:31:44.560Z,1736357504.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:44.569Z,1736357504.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.20 m.
2025-01-08T17:31:44.573Z,1736357504.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.200001 m,
      nav range: 24.077593 m,
      bearing: 268.184605 deg,
      approach rate: -0.566705 m/s,
      LOS rate: -0.096440 deg/s,
      cmd heading: 265.150867 deg,
      new cmd heading: 265.021684 deg.

2025-01-08T17:31:44.595Z,1736357504.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.625501 target range: 25.200001 and range: 25.20 m.
2025-01-08T17:31:44.646Z,1736357504.646 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.999870
2025-01-08T17:31:44.896Z,1736357504.896 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.250448
2025-01-08T17:31:45.015Z,1736357505.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:45.025Z,1736357505.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.20 m.
2025-01-08T17:31:45.028Z,1736357505.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.200001 m,
      nav range: 23.820713 m,
      bearing: 268.137370 deg,
      approach rate: -0.562950 m/s,
      LOS rate: -0.104632 deg/s,
      cmd heading: 265.021694 deg,
      new cmd heading: 264.878461 deg.

2025-01-08T17:31:45.029Z,1736357505.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.623001 target range: 25.200001 and range: 25.20 m.
2025-01-08T17:31:45.148Z,1736357505.148 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.502674
2025-01-08T17:31:45.400Z,1736357505.400 [DAT](INFO): DAT read: Rx Time:17:31:44.2235

2025-01-08T17:31:45.401Z,1736357505.401 [DAT](INFO): Rx dataTimestamp_ set to:1736357505.400599
2025-01-08T17:31:45.401Z,1736357505.401 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.755653
2025-01-08T17:31:45.466Z,1736357505.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:45.489Z,1736357505.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.20 m.
2025-01-08T17:31:45.496Z,1736357505.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.200001 m,
      nav range: 23.575100 m,
      bearing: 268.097129 deg,
      approach rate: -0.529319 m/s,
      LOS rate: -0.087626 deg/s,
      cmd heading: 264.878452 deg,
      new cmd heading: 264.756472 deg.

2025-01-08T17:31:45.497Z,1736357505.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620872 target range: 25.200001 and range: 25.20 m.
2025-01-08T17:31:45.652Z,1736357505.652 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.006513
2025-01-08T17:31:45.878Z,1736357505.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:45.885Z,1736357505.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:45.901Z,1736357505.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.20 m.
2025-01-08T17:31:45.908Z,1736357505.908 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.261244
2025-01-08T17:31:45.936Z,1736357505.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.200001 m,
      nav range: 23.350975 m,
      bearing: 268.058349 deg,
      approach rate: -0.563635 m/s,
      LOS rate: -0.098463 deg/s,
      cmd heading: 264.756464 deg,
      new cmd heading: 264.639006 deg.

2025-01-08T17:31:45.945Z,1736357505.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.618822 target range: 25.200001 and range: 25.20 m.
2025-01-08T17:31:46.169Z,1736357506.169 [DAT](INFO): DAT read: 17:31:44.2235 LVL= 20464, 30497, 18034, 31555, AGC= 56, IDX= 402,-0.08, 0.176,-1.278, 0.285,-0.136, PHS= 0.401,-1.095, 0.418, RAW= 150.6,   3.7, CAL= 152.6,  -5.2, ROT= 357.4,   5.2

2025-01-08T17:31:46.171Z,1736357506.171 [DAT](INFO): got valid direction response:
 17:31:44.2235 LVL= 20464, 30497, 18034, 31555, AGC= 56, IDX= 402,-0.08, 0.176,-1.278, 0.285,-0.136, PHS= 0.401,-1.095, 0.418, RAW= 150.6,   3.7, CAL= 152.6,  -5.2, ROT= 357.4,   5.2

2025-01-08T17:31:46.172Z,1736357506.172 [DAT](INFO): DAT read: Bearing 357.4,   5.2 (Local)

2025-01-08T17:31:46.172Z,1736357506.172 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.4,   5.2 (Local)

2025-01-08T17:31:46.174Z,1736357506.174 [DAT](INFO): DAT read: Range 10 to 50 : 22.6 m  (Round-trip  30.2 ms) speed  0.4 m/s

2025-01-08T17:31:46.175Z,1736357506.175 [DAT](INFO): DAT read: user:226>

2025-01-08T17:31:46.176Z,1736357506.176 [DAT](INFO): DAT read: Tx time:17:31:45.3375

2025-01-08T17:31:46.176Z,1736357506.176 [DAT](INFO): Ping request sent.
2025-01-08T17:31:46.176Z,1736357506.176 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:31:46.177Z,1736357506.177 [DAT](INFO): DAT read: TxSync time:17:31:45.3368

2025-01-08T17:31:46.177Z,1736357506.177 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-01-08T17:31:46.178Z,1736357506.178 [DAT](INFO): direction in FSK: [0.994859,-0.045176,-0.090633]
2025-01-08T17:31:46.179Z,1736357506.179 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:46.179Z,1736357506.179 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:46.182Z,1736357506.182 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:46.182Z,1736357506.182 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:46.186Z,1736357506.186 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.010186
2025-01-08T17:31:46.409Z,1736357506.409 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.232498
2025-01-08T17:31:46.434Z,1736357506.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:46.465Z,1736357506.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.600000 m,
      deltaT: 3.531811 s,
      deltaX: -2.600000 m,
      approachRate: -0.736166 m/s,
      rangeRepo size: 4

2025-01-08T17:31:46.467Z,1736357506.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.600000 m,
      bearing: 264.371003 deg,
      lat: 36.904146 deg,
      lon: -122.119122 deg,
      deltaT: 3.531811 s,
      deltaX: -2.600000 m,
      approachRate: -0.736166 m/s,
      posRepo size: 4

2025-01-08T17:31:46.472Z,1736357506.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.60 m.
2025-01-08T17:31:46.474Z,1736357506.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.600000 m,
      nav range: 22.593517 m,
      bearing: 267.730062 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.098463 deg/s,
      cmd heading: 264.639013 deg,
      new cmd heading: 264.468544 deg.

2025-01-08T17:31:46.480Z,1736357506.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.615847 target range: 22.600000 and range: 22.60 m.
2025-01-08T17:31:46.661Z,1736357506.661 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.484500
2025-01-08T17:31:46.762Z,1736357506.762 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:46.771Z,1736357506.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.60 m.
2025-01-08T17:31:46.774Z,1736357506.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.600000 m,
      nav range: 22.425436 m,
      bearing: 267.709377 deg,
      approach rate: -0.549231 m/s,
      LOS rate: -0.068096 deg/s,
      cmd heading: 264.468531 deg,
      new cmd heading: 264.406012 deg.

2025-01-08T17:31:46.775Z,1736357506.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.614756 target range: 22.600000 and range: 22.60 m.
2025-01-08T17:31:46.912Z,1736357506.912 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.736108
2025-01-08T17:31:47.164Z,1736357507.164 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.988238
2025-01-08T17:31:47.165Z,1736357507.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:47.174Z,1736357507.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.60 m.
2025-01-08T17:31:47.197Z,1736357507.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.600000 m,
      nav range: 22.219677 m,
      bearing: 267.683404 deg,
      approach rate: -0.508983 m/s,
      LOS rate: -0.064843 deg/s,
      cmd heading: 264.406021 deg,
      new cmd heading: 264.327382 deg.

2025-01-08T17:31:47.198Z,1736357507.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.613383 target range: 22.600000 and range: 22.60 m.
2025-01-08T17:31:47.416Z,1736357507.416 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.240214
2025-01-08T17:31:47.612Z,1736357507.612 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:47.655Z,1736357507.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.60 m.
2025-01-08T17:31:47.662Z,1736357507.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.600000 m,
      nav range: 21.986034 m,
      bearing: 267.656385 deg,
      approach rate: -0.486526 m/s,
      LOS rate: -0.056862 deg/s,
      cmd heading: 264.327392 deg,
      new cmd heading: 264.245472 deg.

2025-01-08T17:31:47.669Z,1736357507.669 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.492998
2025-01-08T17:31:47.670Z,1736357507.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.611954 target range: 22.600000 and range: 22.60 m.
2025-01-08T17:31:47.921Z,1736357507.921 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.744382
2025-01-08T17:31:47.980Z,1736357507.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:47.992Z,1736357507.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:47.994Z,1736357507.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.60 m.
2025-01-08T17:31:47.997Z,1736357507.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.600000 m,
      nav range: 21.794474 m,
      bearing: 267.631193 deg,
      approach rate: -0.564786 m/s,
      LOS rate: -0.074927 deg/s,
      cmd heading: 264.245484 deg,
      new cmd heading: 264.169244 deg.

2025-01-08T17:31:47.998Z,1736357507.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.610623 target range: 22.600000 and range: 22.60 m.
2025-01-08T17:31:48.174Z,1736357508.174 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.997534
2025-01-08T17:31:48.424Z,1736357508.424 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.248277
2025-01-08T17:31:48.425Z,1736357508.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:48.434Z,1736357508.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.60 m.
2025-01-08T17:31:48.438Z,1736357508.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.600000 m,
      nav range: 21.560944 m,
      bearing: 267.613241 deg,
      approach rate: -0.530355 m/s,
      LOS rate: -0.041211 deg/s,
      cmd heading: 264.169232 deg,
      new cmd heading: 264.114793 deg.

2025-01-08T17:31:48.439Z,1736357508.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.609673 target range: 22.600000 and range: 22.60 m.
2025-01-08T17:31:48.677Z,1736357508.677 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.500996
2025-01-08T17:31:48.791Z,1736357508.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:48.800Z,1736357508.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.60 m.
2025-01-08T17:31:48.802Z,1736357508.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.600000 m,
      nav range: 21.369127 m,
      bearing: 267.597284 deg,
      approach rate: -0.524886 m/s,
      LOS rate: -0.044056 deg/s,
      cmd heading: 264.114782 deg,
      new cmd heading: 264.066482 deg.

2025-01-08T17:31:48.820Z,1736357508.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.608829 target range: 22.600000 and range: 22.60 m.
2025-01-08T17:31:48.928Z,1736357508.928 [DAT](INFO): DAT read: Rx Time:17:31:47.7696

2025-01-08T17:31:48.929Z,1736357508.929 [DAT](INFO): Rx dataTimestamp_ set to:1736357508.928611
2025-01-08T17:31:48.929Z,1736357508.929 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.753349
2025-01-08T17:31:49.180Z,1736357509.180 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.004239
2025-01-08T17:31:49.182Z,1736357509.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:49.192Z,1736357509.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.60 m.
2025-01-08T17:31:49.194Z,1736357509.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.600000 m,
      nav range: 21.164167 m,
      bearing: 267.580186 deg,
      approach rate: -0.522857 m/s,
      LOS rate: -0.044039 deg/s,
      cmd heading: 264.066479 deg,
      new cmd heading: 264.014688 deg.

2025-01-08T17:31:49.196Z,1736357509.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.607925 target range: 22.600000 and range: 22.60 m.
2025-01-08T17:31:49.433Z,1736357509.433 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.256456
2025-01-08T17:31:49.630Z,1736357509.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:49.643Z,1736357509.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.60 m.
2025-01-08T17:31:49.646Z,1736357509.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.600000 m,
      nav range: 20.910019 m,
      bearing: 267.563689 deg,
      approach rate: -0.562579 m/s,
      LOS rate: -0.036962 deg/s,
      cmd heading: 264.014679 deg,
      new cmd heading: 263.964586 deg.

2025-01-08T17:31:49.648Z,1736357509.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.607051 target range: 22.600000 and range: 22.60 m.
2025-01-08T17:31:49.695Z,1736357509.695 [DAT](INFO): DAT read: 17:31:47.7696 LVL= 19088, 30833, 16130, 30995, AGC= 52, IDX= 410,-0.29, 2.348, 0.969, 2.521, 2.092, PHS= 0.344,-1.076, 0.426, RAW= 152.8,   4.2, CAL= 154.4,  -4.8, ROT= 355.6,   4.8

2025-01-08T17:31:49.697Z,1736357509.697 [DAT](INFO): got valid direction response:
 17:31:47.7696 LVL= 19088, 30833, 16130, 30995, AGC= 52, IDX= 410,-0.29, 2.348, 0.969, 2.521, 2.092, PHS= 0.344,-1.076, 0.426, RAW= 152.8,   4.2, CAL= 154.4,  -4.8, ROT= 355.6,   4.8

2025-01-08T17:31:49.700Z,1736357509.700 [DAT](INFO): DAT read: Bearing 355.6,   4.8 (Local)

2025-01-08T17:31:49.700Z,1736357509.700 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.6,   4.8 (Local)

2025-01-08T17:31:49.703Z,1736357509.703 [DAT](INFO): DAT read: Range 10 to 50 : 20.9 m  (Round-trip  27.9 ms) speed  0.4 m/s

2025-01-08T17:31:49.705Z,1736357509.705 [DAT](INFO): DAT read: user:227>

2025-01-08T17:31:49.710Z,1736357509.710 [DAT](INFO): DAT read: Tx time:17:31:48.8875

2025-01-08T17:31:49.711Z,1736357509.711 [DAT](INFO): Ping request sent.
2025-01-08T17:31:49.711Z,1736357509.711 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:31:49.712Z,1736357509.712 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-01-08T17:31:49.713Z,1736357509.713 [DAT](INFO): direction in FSK: [0.993556,-0.076450,-0.083678]
2025-01-08T17:31:49.714Z,1736357509.714 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:49.714Z,1736357509.714 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:49.745Z,1736357509.745 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:49.745Z,1736357509.745 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:49.764Z,1736357509.764 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.052929
2025-01-08T17:31:49.937Z,1736357509.937 [DAT](INFO): DAT read: TxSync time:17:31:48.8868

2025-01-08T17:31:49.938Z,1736357509.938 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.227310
2025-01-08T17:31:50.002Z,1736357510.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:50.036Z,1736357510.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.900000 m,
      deltaT: 3.526796 s,
      deltaX: -1.700001 m,
      approachRate: -0.482024 m/s,
      rangeRepo size: 4

2025-01-08T17:31:50.039Z,1736357510.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.900000 m,
      bearing: 262.845700 deg,
      lat: 36.904139 deg,
      lon: -122.119122 deg,
      deltaT: 3.526796 s,
      deltaX: -1.700001 m,
      approachRate: -0.482024 m/s,
      posRepo size: 4

2025-01-08T17:31:50.044Z,1736357510.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-01-08T17:31:50.046Z,1736357510.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 20.736252 m,
      bearing: 265.339230 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.036962 deg/s,
      cmd heading: 263.964572 deg,
      new cmd heading: 263.921589 deg.

2025-01-08T17:31:50.052Z,1736357510.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.606301 target range: 20.900000 and range: 20.90 m.
2025-01-08T17:31:50.189Z,1736357510.189 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.478162
2025-01-08T17:31:50.440Z,1736357510.440 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.729822
2025-01-08T17:31:50.472Z,1736357510.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:50.479Z,1736357510.479 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:50.481Z,1736357510.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-01-08T17:31:50.484Z,1736357510.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 20.448593 m,
      bearing: 265.280631 deg,
      approach rate: -0.638584 m/s,
      LOS rate: -0.131917 deg/s,
      cmd heading: 263.921597 deg,
      new cmd heading: 263.743326 deg.

2025-01-08T17:31:50.485Z,1736357510.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.603189 target range: 20.900000 and range: 20.90 m.
2025-01-08T17:31:50.696Z,1736357510.696 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.985201
2025-01-08T17:31:50.795Z,1736357510.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:50.819Z,1736357510.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-01-08T17:31:50.823Z,1736357510.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 20.251499 m,
      bearing: 265.244082 deg,
      approach rate: -0.583781 m/s,
      LOS rate: -0.109310 deg/s,
      cmd heading: 263.743329 deg,
      new cmd heading: 263.632615 deg.

2025-01-08T17:31:50.828Z,1736357510.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.601257 target range: 20.900000 and range: 20.90 m.
2025-01-08T17:31:50.945Z,1736357510.945 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.234407
2025-01-08T17:31:51.196Z,1736357511.196 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.485772
2025-01-08T17:31:51.203Z,1736357511.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:51.212Z,1736357511.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-01-08T17:31:51.215Z,1736357511.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 20.001896 m,
      bearing: 265.198825 deg,
      approach rate: -0.635233 m/s,
      LOS rate: -0.116615 deg/s,
      cmd heading: 263.632625 deg,
      new cmd heading: 263.495161 deg.

2025-01-08T17:31:51.216Z,1736357511.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.598858 target range: 20.900000 and range: 20.90 m.
2025-01-08T17:31:51.448Z,1736357511.448 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.737743
2025-01-08T17:31:51.646Z,1736357511.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:51.659Z,1736357511.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-01-08T17:31:51.666Z,1736357511.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 19.713293 m,
      bearing: 265.129665 deg,
      approach rate: -0.647132 m/s,
      LOS rate: -0.157348 deg/s,
      cmd heading: 263.495147 deg,
      new cmd heading: 263.284629 deg.

2025-01-08T17:31:51.667Z,1736357511.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.595184 target range: 20.900000 and range: 20.90 m.
2025-01-08T17:31:51.702Z,1736357511.702 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.990969
2025-01-08T17:31:51.952Z,1736357511.952 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.241705
2025-01-08T17:31:52.017Z,1736357512.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:52.027Z,1736357512.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-01-08T17:31:52.030Z,1736357512.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 19.472054 m,
      bearing: 265.070756 deg,
      approach rate: -0.654122 m/s,
      LOS rate: -0.161710 deg/s,
      cmd heading: 263.284641 deg,
      new cmd heading: 263.105726 deg.

2025-01-08T17:31:52.031Z,1736357512.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.592061 target range: 20.900000 and range: 20.90 m.
2025-01-08T17:31:52.205Z,1736357512.205 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.494236
2025-01-08T17:31:52.457Z,1736357512.457 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.746052
2025-01-08T17:31:52.509Z,1736357512.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:52.524Z,1736357512.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:52.526Z,1736357512.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-01-08T17:31:52.533Z,1736357512.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 19.132090 m,
      bearing: 264.970322 deg,
      approach rate: -0.680677 m/s,
      LOS rate: -0.204663 deg/s,
      cmd heading: 263.105717 deg,
      new cmd heading: 262.799063 deg.

2025-01-08T17:31:52.534Z,1736357512.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.586709 target range: 20.900000 and range: 20.90 m.
2025-01-08T17:31:52.711Z,1736357512.711 [DAT](INFO): DAT read: Rx Time:17:31:51.3172

2025-01-08T17:31:52.712Z,1736357512.712 [DAT](INFO): Rx dataTimestamp_ set to:1736357512.711337
2025-01-08T17:31:52.714Z,1736357512.714 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.002670
2025-01-08T17:31:52.831Z,1736357512.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:52.840Z,1736357512.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.90 m.
2025-01-08T17:31:52.843Z,1736357512.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.900000 m,
      nav range: 18.909052 m,
      bearing: 264.905009 deg,
      approach rate: -0.709473 m/s,
      LOS rate: -0.210205 deg/s,
      cmd heading: 262.799069 deg,
      new cmd heading: 262.600822 deg.

2025-01-08T17:31:52.844Z,1736357512.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.583249 target range: 20.900000 and range: 20.90 m.
2025-01-08T17:31:52.961Z,1736357512.961 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.250388
2025-01-08T17:31:53.218Z,1736357513.218 [DAT](INFO): DAT read: 17:31:51.3172 LVL= 17056, 30625, 16274, 31379, AGC= 54, IDX= 417,-0.16,-0.156,-1.570,-0.108,-0.434, PHS= 0.367,-1.089, 0.323, RAW= 148.5,   5.6, CAL= 150.3,  -3.2, ROT= 359.7,   3.2

2025-01-08T17:31:53.219Z,1736357513.219 [DAT](INFO): got valid direction response:
 17:31:51.3172 LVL= 17056, 30625, 16274, 31379, AGC= 54, IDX= 417,-0.16,-0.156,-1.570,-0.108,-0.434, PHS= 0.367,-1.089, 0.323, RAW= 148.5,   5.6, CAL= 150.3,  -3.2, ROT= 359.7,   3.2

2025-01-08T17:31:53.221Z,1736357513.221 [DAT](INFO): DAT read: Bearing 359.7,   3.2 (Local)

2025-01-08T17:31:53.221Z,1736357513.221 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.7,   3.2 (Local)

2025-01-08T17:31:53.223Z,1736357513.223 [DAT](INFO): DAT read: Range 10 to 50 : 19.0 m  (Round-trip  25.4 ms) speed  0.7 m/s

2025-01-08T17:31:53.224Z,1736357513.224 [DAT](INFO): DAT read: user:228>

2025-01-08T17:31:53.225Z,1736357513.225 [DAT](INFO): DAT read: Tx time:17:31:52.4376

2025-01-08T17:31:53.225Z,1736357513.225 [DAT](INFO): Ping request sent.
2025-01-08T17:31:53.225Z,1736357513.225 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:31:53.226Z,1736357513.226 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-01-08T17:31:53.227Z,1736357513.227 [DAT](INFO): direction in FSK: [0.998427,-0.005228,-0.055822]
2025-01-08T17:31:53.227Z,1736357513.227 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:53.227Z,1736357513.227 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:53.230Z,1736357513.230 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:53.230Z,1736357513.230 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:53.252Z,1736357513.252 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.026338
2025-01-08T17:31:53.304Z,1736357513.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:53.343Z,1736357513.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.000000 m,
      deltaT: 3.527398 s,
      deltaX: -1.900000 m,
      approachRate: -0.538641 m/s,
      rangeRepo size: 4

2025-01-08T17:31:53.349Z,1736357513.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.000000 m,
      bearing: 265.581925 deg,
      lat: 36.904139 deg,
      lon: -122.119126 deg,
      deltaT: 3.527398 s,
      deltaX: -1.900000 m,
      approachRate: -0.538641 m/s,
      posRepo size: 4

2025-01-08T17:31:53.350Z,1736357513.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.00 m.
2025-01-08T17:31:53.359Z,1736357513.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.000000 m,
      nav range: 18.988544 m,
      bearing: 264.920954 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.210205 deg/s,
      cmd heading: 262.600829 deg,
      new cmd heading: 262.284578 deg.

2025-01-08T17:31:53.364Z,1736357513.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.577730 target range: 19.000000 and range: 19.00 m.
2025-01-08T17:31:53.467Z,1736357513.467 [DAT](INFO): DAT read: TxSync time:17:31:52.4369

2025-01-08T17:31:53.467Z,1736357513.467 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.241924
2025-01-08T17:31:53.716Z,1736357513.716 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.490899
2025-01-08T17:31:53.785Z,1736357513.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:53.793Z,1736357513.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.00 m.
2025-01-08T17:31:53.797Z,1736357513.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.000000 m,
      nav range: 18.639698 m,
      bearing: 264.810535 deg,
      approach rate: -0.772688 m/s,
      LOS rate: -0.249152 deg/s,
      cmd heading: 262.284592 deg,
      new cmd heading: 261.947141 deg.

2025-01-08T17:31:53.800Z,1736357513.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571840 target range: 19.000000 and range: 19.00 m.
2025-01-08T17:31:53.972Z,1736357513.972 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.745999
2025-01-08T17:31:54.119Z,1736357514.119 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:54.129Z,1736357514.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.00 m.
2025-01-08T17:31:54.132Z,1736357514.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.000000 m,
      nav range: 18.399630 m,
      bearing: 264.737130 deg,
      approach rate: -0.715787 m/s,
      LOS rate: -0.221720 deg/s,
      cmd heading: 261.947153 deg,
      new cmd heading: 261.724065 deg.

2025-01-08T17:31:54.133Z,1736357514.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567946 target range: 19.000000 and range: 19.00 m.
2025-01-08T17:31:54.222Z,1736357514.222 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.996034
2025-01-08T17:31:54.472Z,1736357514.472 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.246757
2025-01-08T17:31:54.548Z,1736357514.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:54.556Z,1736357514.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:54.558Z,1736357514.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.00 m.
2025-01-08T17:31:54.561Z,1736357514.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.000000 m,
      nav range: 18.089903 m,
      bearing: 264.629030 deg,
      approach rate: -0.721150 m/s,
      LOS rate: -0.256003 deg/s,
      cmd heading: 261.724052 deg,
      new cmd heading: 261.394203 deg.

2025-01-08T17:31:54.562Z,1736357514.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562190 target range: 19.000000 and range: 19.00 m.
2025-01-08T17:31:54.724Z,1736357514.724 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.498869
2025-01-08T17:31:54.930Z,1736357514.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:54.940Z,1736357514.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.00 m.
2025-01-08T17:31:54.943Z,1736357514.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.000000 m,
      nav range: 17.814657 m,
      bearing: 264.532613 deg,
      approach rate: -0.721269 m/s,
      LOS rate: -0.256561 deg/s,
      cmd heading: 261.394208 deg,
      new cmd heading: 261.100490 deg.

2025-01-08T17:31:54.944Z,1736357514.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.557063 target range: 19.000000 and range: 19.00 m.
2025-01-08T17:31:54.977Z,1736357514.977 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.751271
2025-01-08T17:31:55.228Z,1736357515.228 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.002764
2025-01-08T17:31:55.348Z,1736357515.348 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:55.358Z,1736357515.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.00 m.
2025-01-08T17:31:55.361Z,1736357515.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.000000 m,
      nav range: 17.512772 m,
      bearing: 264.423358 deg,
      approach rate: -0.722660 m/s,
      LOS rate: -0.266046 deg/s,
      cmd heading: 261.100483 deg,
      new cmd heading: 260.767071 deg.

2025-01-08T17:31:55.361Z,1736357515.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551244 target range: 19.000000 and range: 19.00 m.
2025-01-08T17:31:55.480Z,1736357515.480 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.254815
2025-01-08T17:31:55.732Z,1736357515.732 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.506862
2025-01-08T17:31:55.778Z,1736357515.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:55.787Z,1736357515.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.00 m.
2025-01-08T17:31:55.789Z,1736357515.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.000000 m,
      nav range: 17.216934 m,
      bearing: 264.308977 deg,
      approach rate: -0.689654 m/s,
      LOS rate: -0.271224 deg/s,
      cmd heading: 260.767060 deg,
      new cmd heading: 260.418027 deg.

2025-01-08T17:31:55.790Z,1736357515.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545152 target range: 19.000000 and range: 19.00 m.
2025-01-08T17:31:55.984Z,1736357515.984 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.758825
2025-01-08T17:31:56.145Z,1736357516.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:56.154Z,1736357516.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.00 m.
2025-01-08T17:31:56.157Z,1736357516.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.000000 m,
      nav range: 16.964518 m,
      bearing: 264.211534 deg,
      approach rate: -0.688752 m/s,
      LOS rate: -0.269843 deg/s,
      cmd heading: 260.418038 deg,
      new cmd heading: 260.121361 deg.

2025-01-08T17:31:56.158Z,1736357516.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539974 target range: 19.000000 and range: 19.00 m.
2025-01-08T17:31:56.238Z,1736357516.238 [DAT](INFO): DAT read: Rx Time:17:31:54.8640

2025-01-08T17:31:56.238Z,1736357516.238 [DAT](INFO): Rx dataTimestamp_ set to:1736357516.237796
2025-01-08T17:31:56.239Z,1736357516.239 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.013524
2025-01-08T17:31:56.492Z,1736357516.492 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.265214
2025-01-08T17:31:56.616Z,1736357516.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:56.625Z,1736357516.625 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:56.627Z,1736357516.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.00 m.
2025-01-08T17:31:56.646Z,1736357516.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.000000 m,
      nav range: 16.658598 m,
      bearing: 264.092760 deg,
      approach rate: -0.646120 m/s,
      LOS rate: -0.255464 deg/s,
      cmd heading: 260.121361 deg,
      new cmd heading: 259.758501 deg.

2025-01-08T17:31:56.653Z,1736357516.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533641 target range: 19.000000 and range: 19.00 m.
2025-01-08T17:31:56.748Z,1736357516.748 [DAT](INFO): DAT read: 17:31:54.8640 LVL= 20768, 32753, 18978, 32755, AGC= 56, IDX= 415, 0.21, 3.062, 1.602, 3.010, 2.774, PHS= 0.376,-1.125, 0.233, RAW= 145.0,   7.2, CAL= 147.2,  -1.0, ROT=   2.8,   1.0

2025-01-08T17:31:56.750Z,1736357516.750 [DAT](INFO): got valid direction response:
 17:31:54.8640 LVL= 20768, 32753, 18978, 32755, AGC= 56, IDX= 415, 0.21, 3.062, 1.602, 3.010, 2.774, PHS= 0.376,-1.125, 0.233, RAW= 145.0,   7.2, CAL= 147.2,  -1.0, ROT=   2.8,   1.0

2025-01-08T17:31:56.752Z,1736357516.752 [DAT](INFO): DAT read: Bearing   2.8,   1.0 (Local)

2025-01-08T17:31:56.752Z,1736357516.752 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.8,   1.0 (Local)

2025-01-08T17:31:56.755Z,1736357516.755 [DAT](INFO): DAT read: Range 10 to 50 : 16.6 m  (Round-trip  22.2 ms) speed  0.8 m/s

2025-01-08T17:31:56.756Z,1736357516.756 [DAT](INFO): DAT read: user:229>

2025-01-08T17:31:56.757Z,1736357516.757 [DAT](INFO): DAT read: Tx time:17:31:55.9876

2025-01-08T17:31:56.757Z,1736357516.757 [DAT](INFO): Ping request sent.
2025-01-08T17:31:56.758Z,1736357516.758 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:31:56.758Z,1736357516.758 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-01-08T17:31:56.768Z,1736357516.768 [DAT](INFO): direction in FSK: [0.998654,0.048842,-0.017452]
2025-01-08T17:31:56.768Z,1736357516.768 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:56.769Z,1736357516.769 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:56.786Z,1736357516.786 [DAT](INFO): publishing transmit ping time
2025-01-08T17:31:56.787Z,1736357516.787 [DAT](INFO): publishing direction and range info
2025-01-08T17:31:56.802Z,1736357516.802 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.045051
2025-01-08T17:31:56.992Z,1736357516.992 [DAT](INFO): DAT read: TxSync time:17:31:55.9869

2025-01-08T17:31:56.993Z,1736357516.993 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.236069
2025-01-08T17:31:57.002Z,1736357517.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:57.041Z,1736357517.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.600000 m,
      deltaT: 3.528116 s,
      deltaX: -2.400000 m,
      approachRate: -0.680250 m/s,
      rangeRepo size: 4

2025-01-08T17:31:57.043Z,1736357517.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.600000 m,
      bearing: 266.139889 deg,
      lat: 36.904139 deg,
      lon: -122.119126 deg,
      deltaT: 3.528116 s,
      deltaX: -2.400000 m,
      approachRate: -0.680250 m/s,
      posRepo size: 4

2025-01-08T17:31:57.048Z,1736357517.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m.
2025-01-08T17:31:57.054Z,1736357517.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.600000 m,
      nav range: 16.408476 m,
      bearing: 263.992337 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255464 deg/s,
      cmd heading: 259.758515 deg,
      new cmd heading: 259.441547 deg.

2025-01-08T17:31:57.055Z,1736357517.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528109 target range: 16.600000 and range: 16.60 m.
2025-01-08T17:31:57.246Z,1736357517.246 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.488843
2025-01-08T17:31:57.384Z,1736357517.384 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:57.410Z,1736357517.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m.
2025-01-08T17:31:57.418Z,1736357517.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.600000 m,
      nav range: 16.160776 m,
      bearing: 263.897703 deg,
      approach rate: -0.669007 m/s,
      LOS rate: -0.259513 deg/s,
      cmd heading: 259.441539 deg,
      new cmd heading: 259.153288 deg.

2025-01-08T17:31:57.420Z,1736357517.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523078 target range: 16.600000 and range: 16.60 m.
2025-01-08T17:31:57.500Z,1736357517.500 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.742470
2025-01-08T17:31:57.748Z,1736357517.748 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.991095
2025-01-08T17:31:57.834Z,1736357517.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:57.847Z,1736357517.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m.
2025-01-08T17:31:57.850Z,1736357517.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.600000 m,
      nav range: 15.886670 m,
      bearing: 263.812494 deg,
      approach rate: -0.627591 m/s,
      LOS rate: -0.198459 deg/s,
      cmd heading: 259.153278 deg,
      new cmd heading: 258.893243 deg.

2025-01-08T17:31:57.851Z,1736357517.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.518539 target range: 16.600000 and range: 16.60 m.
2025-01-08T17:31:58.000Z,1736357518.000 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.243207
2025-01-08T17:31:58.189Z,1736357518.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:58.197Z,1736357518.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m.
2025-01-08T17:31:58.216Z,1736357518.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.600000 m,
      nav range: 15.670881 m,
      bearing: 263.746662 deg,
      approach rate: -0.616555 m/s,
      LOS rate: -0.190686 deg/s,
      cmd heading: 258.893239 deg,
      new cmd heading: 258.693024 deg.

2025-01-08T17:31:58.217Z,1736357518.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.515045 target range: 16.600000 and range: 16.60 m.
2025-01-08T17:31:58.252Z,1736357518.252 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.495026
2025-01-08T17:31:58.509Z,1736357518.509 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.751697
2025-01-08T17:31:58.616Z,1736357518.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:58.626Z,1736357518.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m.
2025-01-08T17:31:58.629Z,1736357518.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.600000 m,
      nav range: 15.427932 m,
      bearing: 263.697601 deg,
      approach rate: -0.566334 m/s,
      LOS rate: -0.116165 deg/s,
      cmd heading: 258.693032 deg,
      new cmd heading: 258.543533 deg.

2025-01-08T17:31:58.630Z,1736357518.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.512436 target range: 16.600000 and range: 16.60 m.
2025-01-08T17:31:58.756Z,1736357518.756 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.999108
2025-01-08T17:31:58.999Z,1736357518.999 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:59.006Z,1736357519.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:31:59.008Z,1736357519.008 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.251185
2025-01-08T17:31:59.010Z,1736357519.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m.
2025-01-08T17:31:59.013Z,1736357519.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.600000 m,
      nav range: 15.210518 m,
      bearing: 263.654293 deg,
      approach rate: -0.566226 m/s,
      LOS rate: -0.114403 deg/s,
      cmd heading: 258.543533 deg,
      new cmd heading: 258.411751 deg.

2025-01-08T17:31:59.014Z,1736357519.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.510136 target range: 16.600000 and range: 16.60 m.
2025-01-08T17:31:59.260Z,1736357519.260 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.503007
2025-01-08T17:31:59.400Z,1736357519.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:59.409Z,1736357519.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m.
2025-01-08T17:31:59.412Z,1736357519.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.600000 m,
      nav range: 14.982362 m,
      bearing: 263.609217 deg,
      approach rate: -0.571611 m/s,
      LOS rate: -0.114650 deg/s,
      cmd heading: 258.411738 deg,
      new cmd heading: 258.274452 deg.

2025-01-08T17:31:59.413Z,1736357519.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507740 target range: 16.600000 and range: 16.60 m.
2025-01-08T17:31:59.516Z,1736357519.516 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.758542
2025-01-08T17:31:59.764Z,1736357519.764 [DAT](INFO): DAT read: Rx Time:17:31:58.4106

2025-01-08T17:31:59.765Z,1736357519.765 [DAT](INFO): Rx dataTimestamp_ set to:1736357519.764513
2025-01-08T17:31:59.765Z,1736357519.765 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.008147
2025-01-08T17:31:59.857Z,1736357519.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:31:59.866Z,1736357519.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m.
2025-01-08T17:31:59.869Z,1736357519.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.600000 m,
      nav range: 14.743553 m,
      bearing: 263.570727 deg,
      approach rate: -0.522895 m/s,
      LOS rate: -0.085644 deg/s,
      cmd heading: 258.274451 deg,
      new cmd heading: 258.157110 deg.

2025-01-08T17:31:59.870Z,1736357519.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505692 target range: 16.600000 and range: 16.60 m.
2025-01-08T17:32:00.016Z,1736357520.016 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.259118
2025-01-08T17:32:00.219Z,1736357520.219 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:00.246Z,1736357520.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m.
2025-01-08T17:32:00.262Z,1736357520.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.600000 m,
      nav range: 14.555066 m,
      bearing: 263.543447 deg,
      approach rate: -0.495351 m/s,
      LOS rate: -0.072620 deg/s,
      cmd heading: 258.157108 deg,
      new cmd heading: 258.074210 deg.

2025-01-08T17:32:00.264Z,1736357520.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.504245 target range: 16.600000 and range: 16.60 m.
2025-01-08T17:32:00.276Z,1736357520.276 [DAT](INFO): DAT read: 17:31:58.4106 LVL= 23216, 26545, 22962, 30691, AGC= 52, IDX= 413,-0.27, 1.173,-0.316, 1.033, 0.915, PHS= 0.345,-1.184, 0.114, RAW= 142.0,  10.2, CAL= 144.8,   2.9, ROT=   5.2,  -2.9

2025-01-08T17:32:00.277Z,1736357520.277 [DAT](INFO): got valid direction response:
 17:31:58.4106 LVL= 23216, 26545, 22962, 30691, AGC= 52, IDX= 413,-0.27, 1.173,-0.316, 1.033, 0.915, PHS= 0.345,-1.184, 0.114, RAW= 142.0,  10.2, CAL= 144.8,   2.9, ROT=   5.2,  -2.9

2025-01-08T17:32:00.278Z,1736357520.278 [DAT](INFO): DAT read: Bearing   5.2,  -2.9 (Local)

2025-01-08T17:32:00.279Z,1736357520.279 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.2,  -2.9 (Local)

2025-01-08T17:32:00.283Z,1736357520.283 [DAT](INFO): DAT read: Range 10 to 50 : 14.1 m  (Round-trip  18.8 ms) speed  0.4 m/s

2025-01-08T17:32:00.284Z,1736357520.284 [DAT](INFO): DAT read: user:230>

2025-01-08T17:32:00.285Z,1736357520.285 [DAT](INFO): DAT read: Tx time:17:31:59.4876

2025-01-08T17:32:00.285Z,1736357520.285 [DAT](INFO): Ping request sent.
2025-01-08T17:32:00.285Z,1736357520.285 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:32:00.286Z,1736357520.286 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-01-08T17:32:00.292Z,1736357520.292 [DAT](INFO): direction in FSK: [0.994609,0.090517,0.050593]
2025-01-08T17:32:00.292Z,1736357520.292 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:00.292Z,1736357520.292 [DAT](INFO): publishing direction and range info
2025-01-08T17:32:00.304Z,1736357520.304 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:00.304Z,1736357520.304 [DAT](INFO): publishing direction and range info
2025-01-08T17:32:00.322Z,1736357520.322 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.036392
2025-01-08T17:32:00.525Z,1736357520.525 [DAT](INFO): DAT read: TxSync time:17:31:59.4869

2025-01-08T17:32:00.528Z,1736357520.528 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.242218
2025-01-08T17:32:00.669Z,1736357520.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:00.716Z,1736357520.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 3.527941 s,
      deltaX: -2.500000 m,
      approachRate: -0.708629 m/s,
      rangeRepo size: 4

2025-01-08T17:32:00.718Z,1736357520.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.100000 m,
      bearing: 266.336058 deg,
      lat: 36.904141 deg,
      lon: -122.119124 deg,
      deltaT: 3.527941 s,
      deltaX: -2.500000 m,
      approachRate: -0.708629 m/s,
      posRepo size: 4

2025-01-08T17:32:00.719Z,1736357520.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.10 m.
2025-01-08T17:32:00.726Z,1736357520.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.100000 m,
      nav range: 14.134424 m,
      bearing: 264.353511 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.072620 deg/s,
      cmd heading: 258.074217 deg,
      new cmd heading: 257.973049 deg.

2025-01-08T17:32:00.727Z,1736357520.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.502479 target range: 14.100000 and range: 14.10 m.
2025-01-08T17:32:00.776Z,1736357520.776 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.490446
2025-01-08T17:32:01.028Z,1736357521.028 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.742974
2025-01-08T17:32:01.158Z,1736357521.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:01.198Z,1736357521.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:32:01.205Z,1736357521.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.10 m.
2025-01-08T17:32:01.212Z,1736357521.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.100000 m,
      nav range: 13.884738 m,
      bearing: 264.377645 deg,
      approach rate: -0.504855 m/s,
      LOS rate: 0.049676 deg/s,
      cmd heading: 257.973048 deg,
      new cmd heading: 258.046754 deg.

2025-01-08T17:32:01.213Z,1736357521.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.503766 target range: 14.100000 and range: 14.10 m.
2025-01-08T17:32:01.281Z,1736357521.281 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.995870
2025-01-08T17:32:01.536Z,1736357521.536 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.249605
2025-01-08T17:32:01.635Z,1736357521.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:01.645Z,1736357521.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.10 m.
2025-01-08T17:32:01.648Z,1736357521.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.100000 m,
      nav range: 13.639120 m,
      bearing: 264.405543 deg,
      approach rate: -0.558494 m/s,
      LOS rate: 0.064577 deg/s,
      cmd heading: 258.046760 deg,
      new cmd heading: 258.131960 deg.

2025-01-08T17:32:01.649Z,1736357521.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505253 target range: 14.100000 and range: 14.10 m.
2025-01-08T17:32:01.785Z,1736357521.785 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.499501
2025-01-08T17:32:02.007Z,1736357522.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:02.016Z,1736357522.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.10 m.
2025-01-08T17:32:02.018Z,1736357522.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.100000 m,
      nav range: 13.447695 m,
      bearing: 264.430932 deg,
      approach rate: -0.517116 m/s,
      LOS rate: 0.069562 deg/s,
      cmd heading: 258.131973 deg,
      new cmd heading: 258.209225 deg.

2025-01-08T17:32:02.021Z,1736357522.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506601 target range: 14.100000 and range: 14.10 m.
2025-01-08T17:32:02.040Z,1736357522.040 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.754206
2025-01-08T17:32:02.290Z,1736357522.290 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.004676
2025-01-08T17:32:02.393Z,1736357522.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:02.402Z,1736357522.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.10 m.
2025-01-08T17:32:02.406Z,1736357522.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.100000 m,
      nav range: 13.249114 m,
      bearing: 264.459103 deg,
      approach rate: -0.514042 m/s,
      LOS rate: 0.074015 deg/s,
      cmd heading: 258.209236 deg,
      new cmd heading: 258.295015 deg.

2025-01-08T17:32:02.407Z,1736357522.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.508099 target range: 14.100000 and range: 14.10 m.
2025-01-08T17:32:02.544Z,1736357522.544 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.258472
2025-01-08T17:32:02.792Z,1736357522.792 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.507007
2025-01-08T17:32:02.833Z,1736357522.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:02.842Z,1736357522.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.10 m.
2025-01-08T17:32:02.845Z,1736357522.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.100000 m,
      nav range: 13.010176 m,
      bearing: 264.496162 deg,
      approach rate: -0.543098 m/s,
      LOS rate: 0.085782 deg/s,
      cmd heading: 258.295024 deg,
      new cmd heading: 258.408244 deg.

2025-01-08T17:32:02.846Z,1736357522.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.510075 target range: 14.100000 and range: 14.10 m.
2025-01-08T17:32:03.044Z,1736357523.044 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.759037
2025-01-08T17:32:03.201Z,1736357523.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:03.208Z,1736357523.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:32:03.210Z,1736357523.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.10 m.
2025-01-08T17:32:03.216Z,1736357523.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.100000 m,
      nav range: 12.810633 m,
      bearing: 264.530117 deg,
      approach rate: -0.541687 m/s,
      LOS rate: 0.093612 deg/s,
      cmd heading: 258.408241 deg,
      new cmd heading: 258.511693 deg.

2025-01-08T17:32:03.217Z,1736357523.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.511880 target range: 14.100000 and range: 14.10 m.
2025-01-08T17:32:03.297Z,1736357523.297 [DAT](INFO): DAT read: Rx Time:17:32:01.9082

2025-01-08T17:32:03.298Z,1736357523.298 [DAT](INFO): Rx dataTimestamp_ set to:1736357523.297679
2025-01-08T17:32:03.299Z,1736357523.299 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.013537
2025-01-08T17:32:03.551Z,1736357523.551 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.265379
2025-01-08T17:32:03.684Z,1736357523.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:03.721Z,1736357523.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.10 m.
2025-01-08T17:32:03.728Z,1736357523.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.100000 m,
      nav range: 12.540030 m,
      bearing: 264.532312 deg,
      approach rate: -0.530037 m/s,
      LOS rate: 0.004392 deg/s,
      cmd heading: 258.511704 deg,
      new cmd heading: 258.518432 deg.

2025-01-08T17:32:03.729Z,1736357523.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.511998 target range: 14.100000 and range: 14.10 m.
2025-01-08T17:32:03.813Z,1736357523.813 [DAT](INFO): DAT read: 17:32:01.9082 LVL= 28912, 28129, 22818, 32755, AGC= 49, IDX= 419, 0.07,-2.798, 1.878,-3.077,-3.109, PHS= 0.399,-1.250, 0.028, RAW= 137.6,  11.0, CAL= 141.5,   4.5, ROT=   8.5,  -4.5

2025-01-08T17:32:03.815Z,1736357523.815 [DAT](INFO): got valid direction response:
 17:32:01.9082 LVL= 28912, 28129, 22818, 32755, AGC= 49, IDX= 419, 0.07,-2.798, 1.878,-3.077,-3.109, PHS= 0.399,-1.250, 0.028, RAW= 137.6,  11.0, CAL= 141.5,   4.5, ROT=   8.5,  -4.5

2025-01-08T17:32:03.817Z,1736357523.817 [DAT](INFO): DAT read: Bearing   8.5,  -4.5 (Local)

2025-01-08T17:32:03.818Z,1736357523.818 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.5,  -4.5 (Local)

2025-01-08T17:32:03.821Z,1736357523.821 [DAT](INFO): DAT read: Range 10 to 50 : 12.2 m  (Round-trip  16.3 ms) speed  0.4 m/s

2025-01-08T17:32:03.822Z,1736357523.822 [DAT](INFO): DAT read: user:231>

2025-01-08T17:32:03.823Z,1736357523.823 [DAT](INFO): DAT read: Tx time:17:32:02.9877

2025-01-08T17:32:03.830Z,1736357523.830 [DAT](INFO): Ping request sent.
2025-01-08T17:32:03.836Z,1736357523.836 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:32:03.836Z,1736357523.836 [DAT](INFO): DAT read: TxSync time:17:32:02.9870

2025-01-08T17:32:03.837Z,1736357523.837 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-01-08T17:32:03.838Z,1736357523.838 [DAT](INFO): direction in FSK: [0.985967,0.147354,0.078459]
2025-01-08T17:32:03.838Z,1736357523.838 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:03.838Z,1736357523.838 [DAT](INFO): publishing direction and range info
2025-01-08T17:32:03.848Z,1736357523.848 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:03.848Z,1736357523.848 [DAT](INFO): publishing direction and range info
2025-01-08T17:32:03.865Z,1736357523.865 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.034673
2025-01-08T17:32:04.033Z,1736357524.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:04.052Z,1736357524.052 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.222050
2025-01-08T17:32:04.063Z,1736357524.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 3.532381 s,
      deltaX: -1.900001 m,
      approachRate: -0.537881 m/s,
      rangeRepo size: 4

2025-01-08T17:32:04.073Z,1736357524.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.200000 m,
      bearing: 268.280374 deg,
      lat: 36.904145 deg,
      lon: -122.119124 deg,
      deltaT: 3.532381 s,
      deltaX: -1.900001 m,
      approachRate: -0.537881 m/s,
      posRepo size: 4

2025-01-08T17:32:04.074Z,1736357524.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.20 m.
2025-01-08T17:32:04.081Z,1736357524.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.200000 m,
      nav range: 12.313714 m,
      bearing: 266.298998 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004392 deg/s,
      cmd heading: 258.518425 deg,
      new cmd heading: 258.522929 deg.

2025-01-08T17:32:04.082Z,1736357524.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.512076 target range: 12.200000 and range: 12.20 m.
2025-01-08T17:32:04.305Z,1736357524.305 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.474391
2025-01-08T17:32:04.413Z,1736357524.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:04.422Z,1736357524.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.20 m.
2025-01-08T17:32:04.445Z,1736357524.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.200000 m,
      nav range: 12.101225 m,
      bearing: 266.340543 deg,
      approach rate: -0.591343 m/s,
      LOS rate: 0.117648 deg/s,
      cmd heading: 258.522933 deg,
      new cmd heading: 258.649758 deg.

2025-01-08T17:32:04.446Z,1736357524.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.514290 target range: 12.200000 and range: 12.20 m.
2025-01-08T17:32:04.561Z,1736357524.561 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.730230
2025-01-08T17:32:04.808Z,1736357524.808 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.978005
2025-01-08T17:32:04.847Z,1736357524.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:04.859Z,1736357524.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.20 m.
2025-01-08T17:32:04.862Z,1736357524.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.200000 m,
      nav range: 11.844904 m,
      bearing: 266.387615 deg,
      approach rate: -0.586727 m/s,
      LOS rate: 0.110081 deg/s,
      cmd heading: 258.649756 deg,
      new cmd heading: 258.794028 deg.

2025-01-08T17:32:04.863Z,1736357524.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516808 target range: 12.200000 and range: 12.20 m.
2025-01-08T17:32:05.060Z,1736357525.060 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.229833
2025-01-08T17:32:05.225Z,1736357525.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:05.231Z,1736357525.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:32:05.233Z,1736357525.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.20 m.
2025-01-08T17:32:05.237Z,1736357525.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.200000 m,
      nav range: 11.621669 m,
      bearing: 266.432646 deg,
      approach rate: -0.595696 m/s,
      LOS rate: 0.122471 deg/s,
      cmd heading: 258.794037 deg,
      new cmd heading: 258.931724 deg.

2025-01-08T17:32:05.239Z,1736357525.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.519211 target range: 12.200000 and range: 12.20 m.
2025-01-08T17:32:05.312Z,1736357525.312 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.482081
2025-01-08T17:32:05.568Z,1736357525.568 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.737013
2025-01-08T17:32:05.692Z,1736357525.692 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:05.710Z,1736357525.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.20 m.
2025-01-08T17:32:05.726Z,1736357525.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.200000 m,
      nav range: 11.330349 m,
      bearing: 266.456527 deg,
      approach rate: -0.611542 m/s,
      LOS rate: 0.051420 deg/s,
      cmd heading: 258.931734 deg,
      new cmd heading: 259.005218 deg.

2025-01-08T17:32:05.727Z,1736357525.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.520494 target range: 12.200000 and range: 12.20 m.
2025-01-08T17:32:05.817Z,1736357525.817 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.986664
2025-01-08T17:32:06.025Z,1736357526.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:06.049Z,1736357526.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.20 m.
2025-01-08T17:32:06.056Z,1736357526.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.200000 m,
      nav range: 11.122212 m,
      bearing: 266.474552 deg,
      approach rate: -0.612574 m/s,
      LOS rate: 0.054044 deg/s,
      cmd heading: 259.005227 deg,
      new cmd heading: 259.060314 deg.

2025-01-08T17:32:06.057Z,1736357526.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.521455 target range: 12.200000 and range: 12.20 m.
2025-01-08T17:32:06.068Z,1736357526.068 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.238069
2025-01-08T17:32:06.321Z,1736357526.321 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.490739
2025-01-08T17:32:06.444Z,1736357526.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:06.468Z,1736357526.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.20 m.
2025-01-08T17:32:06.473Z,1736357526.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.200000 m,
      nav range: 10.860958 m,
      bearing: 266.498155 deg,
      approach rate: -0.623544 m/s,
      LOS rate: 0.057690 deg/s,
      cmd heading: 259.060305 deg,
      new cmd heading: 259.132819 deg.

2025-01-08T17:32:06.474Z,1736357526.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.522721 target range: 12.200000 and range: 12.20 m.
2025-01-08T17:32:06.573Z,1736357526.573 [DAT](INFO): DAT read: Rx Time:17:32:05.4058

2025-01-08T17:32:06.573Z,1736357526.573 [DAT](INFO): Rx dataTimestamp_ set to:1736357526.573080
2025-01-08T17:32:06.574Z,1736357526.574 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.743618
2025-01-08T17:32:06.826Z,1736357526.826 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.995494
2025-01-08T17:32:06.871Z,1736357526.871 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:06.883Z,1736357526.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.20 m.
2025-01-08T17:32:06.902Z,1736357526.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.200000 m,
      nav range: 10.584905 m,
      bearing: 266.502794 deg,
      approach rate: -0.666522 m/s,
      LOS rate: 0.011492 deg/s,
      cmd heading: 259.132815 deg,
      new cmd heading: 259.147093 deg.

2025-01-08T17:32:06.903Z,1736357526.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.522970 target range: 12.200000 and range: 12.20 m.
2025-01-08T17:32:07.077Z,1736357527.077 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.246843
2025-01-08T17:32:07.240Z,1736357527.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:07.248Z,1736357527.248 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:32:07.250Z,1736357527.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.20 m.
2025-01-08T17:32:07.254Z,1736357527.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.200000 m,
      nav range: 10.346719 m,
      bearing: 266.507546 deg,
      approach rate: -0.648024 m/s,
      LOS rate: 0.013227 deg/s,
      cmd heading: 259.147103 deg,
      new cmd heading: 259.161688 deg.

2025-01-08T17:32:07.255Z,1736357527.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523225 target range: 12.200000 and range: 12.20 m.
2025-01-08T17:32:07.336Z,1736357527.336 [DAT](INFO): DAT read: 17:32:05.4058 LVL= 32752, 32753, 23186, 32755, AGC= 53, IDX= 411,-0.21,-0.017,-1.649,-0.265,-0.326, PHS= 0.396,-1.276, 0.058, RAW= 139.0,  10.7, CAL= 142.5,   4.1, ROT=   7.5,  -4.1

2025-01-08T17:32:07.337Z,1736357527.337 [DAT](INFO): got valid direction response:
 17:32:05.4058 LVL= 32752, 32753, 23186, 32755, AGC= 53, IDX= 411,-0.21,-0.017,-1.649,-0.265,-0.326, PHS= 0.396,-1.276, 0.058, RAW= 139.0,  10.7, CAL= 142.5,   4.1, ROT=   7.5,  -4.1

2025-01-08T17:32:07.339Z,1736357527.339 [DAT](INFO): DAT read: Bearing   7.5,  -4.1 (Local)

2025-01-08T17:32:07.340Z,1736357527.340 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.5,  -4.1 (Local)

2025-01-08T17:32:07.342Z,1736357527.342 [DAT](INFO): DAT read: Range 10 to 50 : 10.4 m  (Round-trip  13.9 ms) speed  0.4 m/s

2025-01-08T17:32:07.344Z,1736357527.344 [DAT](INFO): DAT read: user:232>

2025-01-08T17:32:07.345Z,1736357527.345 [DAT](INFO): DAT read: Tx time:17:32:06.4877

2025-01-08T17:32:07.346Z,1736357527.346 [DAT](INFO): Ping request sent.
2025-01-08T17:32:07.346Z,1736357527.346 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:32:07.348Z,1736357527.348 [DAT](INFO): DAT read: TxSync time:17:32:06.4870

2025-01-08T17:32:07.348Z,1736357527.348 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-01-08T17:32:07.349Z,1736357527.349 [DAT](INFO): direction in FSK: [0.988908,0.130192,0.071497]
2025-01-08T17:32:07.350Z,1736357527.350 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:07.350Z,1736357527.350 [DAT](INFO): publishing direction and range info
2025-01-08T17:32:07.353Z,1736357527.353 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:07.354Z,1736357527.354 [DAT](INFO): publishing direction and range info
2025-01-08T17:32:07.358Z,1736357527.358 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.012244
2025-01-08T17:32:07.581Z,1736357527.581 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.234650
2025-01-08T17:32:07.742Z,1736357527.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:07.789Z,1736357527.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.400000 m,
      deltaT: 3.528389 s,
      deltaX: -1.800000 m,
      approachRate: -0.510148 m/s,
      rangeRepo size: 4

2025-01-08T17:32:07.795Z,1736357527.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.400000 m,
      bearing: 266.453489 deg,
      lat: 36.904145 deg,
      lon: -122.119126 deg,
      deltaT: 3.528389 s,
      deltaX: -1.800000 m,
      approachRate: -0.510148 m/s,
      posRepo size: 4

2025-01-08T17:32:07.796Z,1736357527.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-08T17:32:07.799Z,1736357527.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.400000 m,
      nav range: 10.176348 m,
      bearing: 266.545570 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013227 deg/s,
      cmd heading: 259.161693 deg,
      new cmd heading: 259.183055 deg.

2025-01-08T17:32:07.805Z,1736357527.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523598 target range: 10.400000 and range: 10.40 m.
2025-01-08T17:32:07.832Z,1736357527.832 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.486364
2025-01-08T17:32:08.084Z,1736357528.084 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.738159
2025-01-08T17:32:08.237Z,1736357528.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:08.273Z,1736357528.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-08T17:32:08.284Z,1736357528.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.400000 m,
      nav range: 9.842989 m,
      bearing: 266.528828 deg,
      approach rate: -0.688176 m/s,
      LOS rate: -0.035731 deg/s,
      cmd heading: 259.183057 deg,
      new cmd heading: 259.131132 deg.

2025-01-08T17:32:08.285Z,1736357528.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.522691 target range: 10.400000 and range: 10.40 m.
2025-01-08T17:32:08.337Z,1736357528.337 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.991173
2025-01-08T17:32:08.588Z,1736357528.588 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.242185
2025-01-08T17:32:08.749Z,1736357528.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:08.758Z,1736357528.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-08T17:32:08.778Z,1736357528.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.400000 m,
      nav range: 9.497337 m,
      bearing: 266.538785 deg,
      approach rate: -0.712229 m/s,
      LOS rate: 0.021262 deg/s,
      cmd heading: 259.131121 deg,
      new cmd heading: 259.162076 deg.

2025-01-08T17:32:08.779Z,1736357528.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523232 target range: 10.400000 and range: 10.40 m.
2025-01-08T17:32:08.841Z,1736357528.841 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.495255
2025-01-08T17:32:09.094Z,1736357529.094 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.747702
2025-01-08T17:32:09.146Z,1736357529.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:09.157Z,1736357529.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-08T17:32:09.172Z,1736357529.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.400000 m,
      nav range: 9.228903 m,
      bearing: 266.546578 deg,
      approach rate: -0.673810 m/s,
      LOS rate: 0.020132 deg/s,
      cmd heading: 259.162075 deg,
      new cmd heading: 259.186136 deg.

2025-01-08T17:32:09.173Z,1736357529.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523652 target range: 10.400000 and range: 10.40 m.
2025-01-08T17:32:09.344Z,1736357529.344 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.998214
2025-01-08T17:32:09.513Z,1736357529.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:09.520Z,1736357529.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:32:09.522Z,1736357529.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-08T17:32:09.525Z,1736357529.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.400000 m,
      nav range: 8.981801 m,
      bearing: 266.554860 deg,
      approach rate: -0.675804 m/s,
      LOS rate: 0.023273 deg/s,
      cmd heading: 259.186145 deg,
      new cmd heading: 259.211673 deg.

2025-01-08T17:32:09.526Z,1736357529.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524097 target range: 10.400000 and range: 10.40 m.
2025-01-08T17:32:09.598Z,1736357529.598 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.252152
2025-01-08T17:32:09.848Z,1736357529.848 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.502137
2025-01-08T17:32:09.946Z,1736357529.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:09.954Z,1736357529.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-08T17:32:09.957Z,1736357529.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.400000 m,
      nav range: 8.695285 m,
      bearing: 266.558325 deg,
      approach rate: -0.662854 m/s,
      LOS rate: 0.008280 deg/s,
      cmd heading: 259.211662 deg,
      new cmd heading: 259.222400 deg.

2025-01-08T17:32:09.958Z,1736357529.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524284 target range: 10.400000 and range: 10.40 m.
2025-01-08T17:32:10.102Z,1736357530.102 [DAT](INFO): DAT read: Rx Time:17:32:08.9028

2025-01-08T17:32:10.104Z,1736357530.104 [DAT](INFO): Rx dataTimestamp_ set to:1736357530.103137
2025-01-08T17:32:10.105Z,1736357530.105 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.759071
2025-01-08T17:32:10.344Z,1736357530.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:10.352Z,1736357530.352 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.006279
2025-01-08T17:32:10.358Z,1736357530.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-08T17:32:10.361Z,1736357530.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.400000 m,
      nav range: 8.432132 m,
      bearing: 266.562119 deg,
      approach rate: -0.652157 m/s,
      LOS rate: 0.009696 deg/s,
      cmd heading: 259.222399 deg,
      new cmd heading: 259.234136 deg.

2025-01-08T17:32:10.362Z,1736357530.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524489 target range: 10.400000 and range: 10.40 m.
2025-01-08T17:32:10.608Z,1736357530.608 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.260748
2025-01-08T17:32:10.772Z,1736357530.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:10.782Z,1736357530.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-01-08T17:32:10.785Z,1736357530.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.400000 m,
      nav range: 8.154995 m,
      bearing: 266.589680 deg,
      approach rate: -0.654018 m/s,
      LOS rate: 0.067252 deg/s,
      cmd heading: 259.234147 deg,
      new cmd heading: 259.319641 deg.

2025-01-08T17:32:10.786Z,1736357530.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525981 target range: 10.400000 and range: 10.40 m.
2025-01-08T17:32:10.863Z,1736357530.863 [DAT](INFO): DAT read: 17:32:08.9028 LVL= 32752, 32753, 28018, 32755, AGC= 54, IDX= 412, 0.39,-2.099, 2.556,-2.064,-2.318, PHS= 0.307,-1.362, 0.252, RAW= 148.3,   9.8, CAL= 149.4,   1.5, ROT=   0.6,  -1.5

2025-01-08T17:32:10.864Z,1736357530.864 [DAT](INFO): got valid direction response:
 17:32:08.9028 LVL= 32752, 32753, 28018, 32755, AGC= 54, IDX= 412, 0.39,-2.099, 2.556,-2.064,-2.318, PHS= 0.307,-1.362, 0.252, RAW= 148.3,   9.8, CAL= 149.4,   1.5, ROT=   0.6,  -1.5

2025-01-08T17:32:10.865Z,1736357530.865 [DAT](INFO): DAT read: Bearing   0.6,  -1.5 (Local)

2025-01-08T17:32:10.866Z,1736357530.866 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.6,  -1.5 (Local)

2025-01-08T17:32:10.867Z,1736357530.867 [DAT](INFO): DAT read: Range 10 to 50 : 8.1 m  (Round-trip  10.9 ms) speed  0.5 m/s

2025-01-08T17:32:10.868Z,1736357530.868 [DAT](INFO): DAT read: user:233>

2025-01-08T17:32:10.869Z,1736357530.869 [DAT](INFO): DAT read: Tx time:17:32:09.9877

2025-01-08T17:32:10.869Z,1736357530.869 [DAT](INFO): Ping request sent.
2025-01-08T17:32:10.870Z,1736357530.870 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:32:10.871Z,1736357530.871 [DAT](INFO): DAT read: TxSync time:17:32:09.9870

2025-01-08T17:32:10.871Z,1736357530.871 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-01-08T17:32:10.872Z,1736357530.872 [DAT](INFO): direction in FSK: [0.999603,0.010468,0.026177]
2025-01-08T17:32:10.873Z,1736357530.873 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:10.873Z,1736357530.873 [DAT](INFO): publishing direction and range info
2025-01-08T17:32:10.882Z,1736357530.882 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:10.882Z,1736357530.882 [DAT](INFO): publishing direction and range info
2025-01-08T17:32:10.886Z,1736357530.886 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.016491
2025-01-08T17:32:10.948Z,1736357530.948 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-08T17:32:11.108Z,1736357531.108 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.238956
2025-01-08T17:32:11.150Z,1736357531.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:11.184Z,1736357531.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.100000 m,
      deltaT: 3.527380 s,
      deltaX: -2.299999 m,
      approachRate: -0.652042 m/s,
      rangeRepo size: 4

2025-01-08T17:32:11.192Z,1736357531.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.100000 m,
      bearing: 259.772413 deg,
      lat: 36.904145 deg,
      lon: -122.119127 deg,
      deltaT: 3.527380 s,
      deltaX: -2.299999 m,
      approachRate: -0.652042 m/s,
      posRepo size: 4

2025-01-08T17:32:11.196Z,1736357531.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.10 m.
2025-01-08T17:32:11.196Z,1736357531.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 8.10 m.
2025-01-08T17:32:11.196Z,1736357531.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-01-08T17:32:11.199Z,1736357531.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 7.982725 m,
      bearing: 266.647411 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.067252 deg/s,
      cmd heading: 259.319634 deg,
      new cmd heading: 259.399870 deg.

2025-01-08T17:32:11.200Z,1736357531.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527382 target range: 8.100000 and range: 8.10 m.
2025-01-08T17:32:11.361Z,1736357531.361 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.491224
2025-01-08T17:32:11.531Z,1736357531.531 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:11.539Z,1736357531.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:32:11.557Z,1736357531.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:11.560Z,1736357531.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 7.736575 m,
      bearing: 266.678182 deg,
      approach rate: -0.652077 m/s,
      LOS rate: 0.084109 deg/s,
      cmd heading: 259.399875 deg,
      new cmd heading: 259.495124 deg.

2025-01-08T17:32:11.561Z,1736357531.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529044 target range: 8.100000 and range: 8.10 m.
2025-01-08T17:32:11.612Z,1736357531.612 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.743183
2025-01-08T17:32:11.864Z,1736357531.864 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.994939
2025-01-08T17:32:11.979Z,1736357531.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:11.996Z,1736357531.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:11.999Z,1736357531.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 7.466598 m,
      bearing: 266.759671 deg,
      approach rate: -0.614776 m/s,
      LOS rate: 0.192271 deg/s,
      cmd heading: 259.495115 deg,
      new cmd heading: 259.748419 deg.

2025-01-08T17:32:12.006Z,1736357532.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533465 target range: 8.100000 and range: 8.10 m.
2025-01-08T17:32:12.116Z,1736357532.116 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.247188
2025-01-08T17:32:12.345Z,1736357532.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:12.373Z,1736357532.373 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.503215
2025-01-08T17:32:12.375Z,1736357532.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:12.378Z,1736357532.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 7.223869 m,
      bearing: 266.837349 deg,
      approach rate: -0.640964 m/s,
      LOS rate: 0.212014 deg/s,
      cmd heading: 259.748406 deg,
      new cmd heading: 259.989269 deg.

2025-01-08T17:32:12.379Z,1736357532.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537669 target range: 8.100000 and range: 8.10 m.
2025-01-08T17:32:12.624Z,1736357532.624 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.755157
2025-01-08T17:32:12.802Z,1736357532.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:12.812Z,1736357532.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:12.814Z,1736357532.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 6.951118 m,
      bearing: 266.961592 deg,
      approach rate: -0.625060 m/s,
      LOS rate: 0.295898 deg/s,
      cmd heading: 259.989266 deg,
      new cmd heading: 260.376615 deg.

2025-01-08T17:32:12.816Z,1736357532.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544429 target range: 8.100000 and range: 8.10 m.
2025-01-08T17:32:12.876Z,1736357532.876 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.006869
2025-01-08T17:32:13.128Z,1736357533.128 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.259091
2025-01-08T17:32:13.172Z,1736357533.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:13.189Z,1736357533.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:13.196Z,1736357533.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 6.730076 m,
      bearing: 267.064907 deg,
      approach rate: -0.585471 m/s,
      LOS rate: 0.282637 deg/s,
      cmd heading: 260.376619 deg,
      new cmd heading: 260.696741 deg.

2025-01-08T17:32:13.197Z,1736357533.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550016 target range: 8.100000 and range: 8.10 m.
2025-01-08T17:32:13.380Z,1736357533.380 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.510934
2025-01-08T17:32:13.557Z,1736357533.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:13.568Z,1736357533.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:32:13.574Z,1736357533.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:13.580Z,1736357533.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 6.500461 m,
      bearing: 267.174929 deg,
      approach rate: -0.598014 m/s,
      LOS rate: 0.296663 deg/s,
      cmd heading: 260.696737 deg,
      new cmd heading: 261.038455 deg.

2025-01-08T17:32:13.582Z,1736357533.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.555981 target range: 8.100000 and range: 8.10 m.
2025-01-08T17:32:13.632Z,1736357533.632 [DAT](INFO): DAT read: Rx Time:17:32:12.4000

2025-01-08T17:32:13.633Z,1736357533.633 [DAT](INFO): Rx dataTimestamp_ set to:1736357533.632540
2025-01-08T17:32:13.633Z,1736357533.633 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.764092
2025-01-08T17:32:13.788Z,1736357533.788 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:32:13.884Z,1736357533.884 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.015059
2025-01-08T17:32:13.979Z,1736357533.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:13.991Z,1736357533.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:13.994Z,1736357533.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 6.256955 m,
      bearing: 267.340379 deg,
      approach rate: -0.582218 m/s,
      LOS rate: 0.410983 deg/s,
      cmd heading: 261.038465 deg,
      new cmd heading: 261.554117 deg.

2025-01-08T17:32:14.011Z,1736357534.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.564981 target range: 8.100000 and range: 8.10 m.
2025-01-08T17:32:14.146Z,1736357534.146 [DAT](INFO): DAT read: 17:32:12.4000 LVL= 32752, 32753, 28402, 32755, AGC= 52, IDX= 412, 0.34, 2.079, 0.835, 2.694, 2.479, PHS=-0.313,-1.597, 0.212, RAW= 166.4,  20.4, CAL= 167.4,  16.8, ROT= 342.6, -e 10 to 50 : 6.0 m  (Round-trip  8.0 ms) speed  0.4 m/s

2025-01-08T17:32:14.147Z,1736357534.147 [DAT](INFO): unknown deviceResponse_: 17:32:12.4000 LVL= 32752, 32753, 28402, 32755, AGC= 52, IDX= 412, 0.34, 2.079, 0.835, 2.694, 2.479, PHS=-0.313,-1.597, 0.212, RAW= 166.4,  20.4, CAL= 167.4,  16.8, ROT= 342.6, -e 10 to 50 : 6.0 m  (Round-trip  8.0 ms) speed  0.4 m/s

2025-01-08T17:32:14.148Z,1736357534.148 [DAT](INFO): DAT read: user:234>

2025-01-08T17:32:14.149Z,1736357534.149 [DAT](INFO): DAT read: Tx time:17:32:13.4878

2025-01-08T17:32:14.149Z,1736357534.149 [DAT](INFO): Ping request sent.
2025-01-08T17:32:14.149Z,1736357534.149 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:32:14.149Z,1736357534.149 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:14.150Z,1736357534.150 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.000764
2025-01-08T17:32:14.377Z,1736357534.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:14.386Z,1736357534.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:14.389Z,1736357534.389 [DAT](INFO): DAT read: TxSync time:17:32:13.4871

2025-01-08T17:32:14.389Z,1736357534.389 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.240111
2025-01-08T17:32:14.395Z,1736357534.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 6.027192 m,
      bearing: 267.508788 deg,
      approach rate: -0.582417 m/s,
      LOS rate: 0.443167 deg/s,
      cmd heading: 261.554117 deg,
      new cmd heading: 262.078590 deg.

2025-01-08T17:32:14.396Z,1736357534.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.574134 target range: 8.100000 and range: 8.10 m.
2025-01-08T17:32:14.640Z,1736357534.640 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.491114
2025-01-08T17:32:14.792Z,1736357534.792 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:32:14.825Z,1736357534.825 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:14.834Z,1736357534.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:14.838Z,1736357534.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 5.769637 m,
      bearing: 267.747410 deg,
      approach rate: -0.574111 m/s,
      LOS rate: 0.555649 deg/s,
      cmd heading: 262.078593 deg,
      new cmd heading: 262.826369 deg.

2025-01-08T17:32:14.839Z,1736357534.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.587185 target range: 8.100000 and range: 8.10 m.
2025-01-08T17:32:14.893Z,1736357534.893 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.743523
2025-01-08T17:32:15.144Z,1736357535.144 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.995070
2025-01-08T17:32:15.218Z,1736357535.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:15.227Z,1736357535.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:15.230Z,1736357535.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 5.544199 m,
      bearing: 267.968545 deg,
      approach rate: -0.573755 m/s,
      LOS rate: 0.585688 deg/s,
      cmd heading: 262.826362 deg,
      new cmd heading: 263.516709 deg.

2025-01-08T17:32:15.231Z,1736357535.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.599234 target range: 8.100000 and range: 8.10 m.
2025-01-08T17:32:15.397Z,1736357535.397 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.247694
2025-01-08T17:32:15.638Z,1736357535.638 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:15.645Z,1736357535.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:32:15.648Z,1736357535.648 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.499158
2025-01-08T17:32:15.649Z,1736357535.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:15.652Z,1736357535.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 5.302990 m,
      bearing: 268.226077 deg,
      approach rate: -0.574428 m/s,
      LOS rate: 0.641196 deg/s,
      cmd heading: 263.516703 deg,
      new cmd heading: 264.324383 deg.

2025-01-08T17:32:15.653Z,1736357535.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.613331 target range: 8.100000 and range: 8.10 m.
2025-01-08T17:32:15.900Z,1736357535.900 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.751275
2025-01-08T17:32:16.069Z,1736357536.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:16.078Z,1736357536.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:16.081Z,1736357536.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 5.058408 m,
      bearing: 268.510982 deg,
      approach rate: -0.567859 m/s,
      LOS rate: 0.693460 deg/s,
      cmd heading: 264.324387 deg,
      new cmd heading: 265.220352 deg.

2025-01-08T17:32:16.082Z,1736357536.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628968 target range: 8.100000 and range: 8.10 m.
2025-01-08T17:32:16.155Z,1736357536.155 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.005864
2025-01-08T17:32:16.405Z,1736357536.405 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.255407
2025-01-08T17:32:16.430Z,1736357536.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:16.443Z,1736357536.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:16.446Z,1736357536.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 4.853373 m,
      bearing: 268.733820 deg,
      approach rate: -0.561290 m/s,
      LOS rate: 0.635796 deg/s,
      cmd heading: 265.220344 deg,
      new cmd heading: 265.917065 deg.

2025-01-08T17:32:16.447Z,1736357536.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.641129 target range: 8.100000 and range: 8.10 m.
2025-01-08T17:32:16.656Z,1736357536.656 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.507116
2025-01-08T17:32:16.856Z,1736357536.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:16.865Z,1736357536.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:16.868Z,1736357536.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 4.611080 m,
      bearing: 268.993325 deg,
      approach rate: -0.574242 m/s,
      LOS rate: 0.647348 deg/s,
      cmd heading: 265.917078 deg,
      new cmd heading: 266.736440 deg.

2025-01-08T17:32:16.869Z,1736357536.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655429 target range: 8.100000 and range: 8.10 m.
2025-01-08T17:32:16.908Z,1736357536.908 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.759226
2025-01-08T17:32:17.162Z,1736357537.162 [DAT](INFO): DAT read: Rx Time:17:32:15.8971

2025-01-08T17:32:17.162Z,1736357537.162 [DAT](INFO): Rx dataTimestamp_ set to:1736357537.161861
2025-01-08T17:32:17.163Z,1736357537.163 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.013521
2025-01-08T17:32:17.241Z,1736357537.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:17.250Z,1736357537.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:17.253Z,1736357537.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 4.391375 m,
      bearing: 269.230955 deg,
      approach rate: -0.571161 m/s,
      LOS rate: 0.648665 deg/s,
      cmd heading: 266.736427 deg,
      new cmd heading: 267.484939 deg.

2025-01-08T17:32:17.254Z,1736357537.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668493 target range: 8.100000 and range: 8.10 m.
2025-01-08T17:32:17.412Z,1736357537.412 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.263061
2025-01-08T17:32:17.650Z,1736357537.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:17.657Z,1736357537.657 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:32:17.676Z,1736357537.676 [DAT](INFO): DAT read: 17:32:15.8971 LVL= 22000, 32753, 19538, 25539, AGC= 46, IDX= 419,-0.28,-1.403,-1.102,-2.358,-0.518, PHS=-0.798,-0.538,-1.843, RAW=  19.2,  43.2, CAL=  13.7,  47.0, ROT= 136.3, -47.0

2025-01-08T17:32:17.677Z,1736357537.677 [DAT](INFO): got valid direction response:
 17:32:15.8971 LVL= 22000, 32753, 19538, 25539, AGC= 46, IDX= 419,-0.28,-1.403,-1.102,-2.358,-0.518, PHS=-0.798,-0.538,-1.843, RAW=  19.2,  43.2, CAL=  13.7,  47.0, ROT= 136.3, -47.0

2025-01-08T17:32:17.679Z,1736357537.679 [DAT](INFO): DAT read: Bearing 136.3, -47.0 (Local)

2025-01-08T17:32:17.680Z,1736357537.680 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.3, -47.0 (Local)

2025-01-08T17:32:17.682Z,1736357537.682 [DAT](INFO): DAT read: Range 10 to 50 : 3.8 m  (Round-trip  5.1 ms) speed  0.4 m/s

2025-01-08T17:32:17.683Z,1736357537.683 [DAT](INFO): DAT read: user:235>

2025-01-08T17:32:17.684Z,1736357537.684 [DAT](INFO): DAT read: Tx time:17:32:16.9878

2025-01-08T17:32:17.685Z,1736357537.685 [DAT](INFO): Ping request sent.
2025-01-08T17:32:17.685Z,1736357537.685 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:32:17.686Z,1736357537.686 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-01-08T17:32:17.697Z,1736357537.697 [DAT](INFO): direction in FSK: [-0.493062,0.471181,0.731354]
2025-01-08T17:32:17.697Z,1736357537.697 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:17.697Z,1736357537.697 [DAT](INFO): publishing direction and range info
2025-01-08T17:32:17.702Z,1736357537.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:17.722Z,1736357537.722 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:17.722Z,1736357537.722 [DAT](INFO): publishing direction and range info
2025-01-08T17:32:17.725Z,1736357537.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 4.158346 m,
      bearing: 269.484558 deg,
      approach rate: -0.568292 m/s,
      LOS rate: 0.653123 deg/s,
      cmd heading: 267.484934 deg,
      new cmd heading: 268.288322 deg.

2025-01-08T17:32:17.726Z,1736357537.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682515 target range: 8.100000 and range: 8.10 m.
2025-01-08T17:32:17.780Z,1736357537.780 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.094886
2025-01-08T17:32:17.922Z,1736357537.922 [DAT](INFO): DAT read: TxSync time:17:32:16.9871

2025-01-08T17:32:17.923Z,1736357537.923 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.237676
2025-01-08T17:32:18.161Z,1736357538.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:18.174Z,1736357538.174 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.489118
2025-01-08T17:32:18.202Z,1736357538.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 6.811779 s,
      deltaX: -4.300000 m,
      approachRate: -0.631260 m/s,
      rangeRepo size: 4

2025-01-08T17:32:18.213Z,1736357538.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.800000 m,
      bearing: 47.881975 deg,
      lat: 36.904146 deg,
      lon: -122.119124 deg,
      deltaT: 6.811779 s,
      deltaX: -4.300000 m,
      approachRate: -0.631260 m/s,
      posRepo size: 4

2025-01-08T17:32:18.214Z,1736357538.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.80 m. 8.10 m.
2025-01-08T17:32:18.228Z,1736357538.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 3.866603 m,
      bearing: 269.749088 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.067252 deg/s,
      cmd heading: 268.288328 deg,
      new cmd heading: 268.397134 deg.

2025-01-08T17:32:18.231Z,1736357538.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.684414 target range: 8.100000 and range: 3.80 m.
2025-01-08T17:32:18.424Z,1736357538.424 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.739387
2025-01-08T17:32:18.496Z,1736357538.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:18.505Z,1736357538.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:18.508Z,1736357538.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 3.675637 m,
      bearing: 269.890575 deg,
      approach rate: -0.623601 m/s,
      LOS rate: 0.486028 deg/s,
      cmd heading: 268.397147 deg,
      new cmd heading: 268.843648 deg.

2025-01-08T17:32:18.509Z,1736357538.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692207 target range: 8.100000 and range: 3.80 m.
2025-01-08T17:32:18.677Z,1736357538.677 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.992195
2025-01-08T17:32:18.908Z,1736357538.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:18.928Z,1736357538.928 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.243446
2025-01-08T17:32:18.945Z,1736357538.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:18.951Z,1736357538.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 3.435350 m,
      bearing: 269.993851 deg,
      approach rate: -0.547005 m/s,
      LOS rate: 0.251550 deg/s,
      cmd heading: 268.843650 deg,
      new cmd heading: 269.175145 deg.

2025-01-08T17:32:18.956Z,1736357538.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697992 target range: 8.100000 and range: 3.80 m.
2025-01-08T17:32:19.180Z,1736357539.180 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.495378
2025-01-08T17:32:19.295Z,1736357539.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:19.329Z,1736357539.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:19.335Z,1736357539.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 3.209587 m,
      bearing: 270.066188 deg,
      approach rate: -0.587727 m/s,
      LOS rate: 0.201560 deg/s,
      cmd heading: 269.175132 deg,
      new cmd heading: 269.407407 deg.

2025-01-08T17:32:19.337Z,1736357539.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702046 target range: 8.100000 and range: 3.80 m.
2025-01-08T17:32:19.432Z,1736357539.432 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.747390
2025-01-08T17:32:19.686Z,1736357539.686 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.000482
2025-01-08T17:32:19.727Z,1736357539.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:19.748Z,1736357539.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:32:19.750Z,1736357539.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:19.757Z,1736357539.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 2.958165 m,
      bearing: 270.099628 deg,
      approach rate: -0.596871 m/s,
      LOS rate: 0.086133 deg/s,
      cmd heading: 269.407413 deg,
      new cmd heading: 269.516260 deg.

2025-01-08T17:32:19.758Z,1736357539.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703946 target range: 8.100000 and range: 3.80 m.
2025-01-08T17:32:19.937Z,1736357539.937 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.252084
2025-01-08T17:32:20.149Z,1736357540.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:20.180Z,1736357540.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:20.183Z,1736357540.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 2.708278 m,
      bearing: 269.970617 deg,
      approach rate: -0.580628 m/s,
      LOS rate: -0.327422 deg/s,
      cmd heading: 269.516259 deg,
      new cmd heading: 269.093525 deg.

2025-01-08T17:32:20.188Z,1736357540.188 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.503469
2025-01-08T17:32:20.190Z,1736357540.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696568 target range: 8.100000 and range: 3.80 m.
2025-01-08T17:32:20.442Z,1736357540.442 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.757267
2025-01-08T17:32:20.632Z,1736357540.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:20.642Z,1736357540.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:20.645Z,1736357540.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 2.422858 m,
      bearing: 269.639417 deg,
      approach rate: -0.618274 m/s,
      LOS rate: -0.801957 deg/s,
      cmd heading: 269.093525 deg,
      new cmd heading: 267.983019 deg.

2025-01-08T17:32:20.646Z,1736357540.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677186 target range: 8.100000 and range: 3.80 m.
2025-01-08T17:32:20.693Z,1736357540.693 [DAT](INFO): DAT read: Rx Time:17:32:19.3955

2025-01-08T17:32:20.694Z,1736357540.694 [DAT](INFO): Rx dataTimestamp_ set to:1736357540.693875
2025-01-08T17:32:20.695Z,1736357540.695 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.010215
2025-01-08T17:32:20.944Z,1736357540.944 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.259387
2025-01-08T17:32:21.072Z,1736357541.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:21.137Z,1736357541.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.10 m. 8.10 m.
2025-01-08T17:32:21.144Z,1736357541.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.100000 m,
      nav range: 2.157407 m,
      bearing: 269.254795 deg,
      approach rate: -0.536069 m/s,
      LOS rate: -0.872293 deg/s,
      cmd heading: 267.983019 deg,
      new cmd heading: 266.687411 deg.

2025-01-08T17:32:21.145Z,1736357541.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654573 target range: 8.100000 and range: 3.80 m.
2025-01-08T17:32:21.202Z,1736357541.202 [DAT](INFO): DAT read: 17:32:19.3955 LVL= 25712, 18657, 23394, 26899, AGC= 44, IDX= 431, 0.06,-1.570,-2.239,-1.265,-0.510, PHS=-0.971,-1.681,-0.757, RAW= 162.8,  55.2, CAL= 166.9,  60.2, ROT= 343.1, -60.2

2025-01-08T17:32:21.204Z,1736357541.204 [DAT](INFO): got valid direction response:
 17:32:19.3955 LVL= 25712, 18657, 23394, 26899, AGC= 44, IDX= 431, 0.06,-1.570,-2.239,-1.265,-0.510, PHS=-0.971,-1.681,-0.757, RAW= 162.8,  55.2, CAL= 166.9,  60.2, ROT= 343.1, -60.2

2025-01-08T17:32:21.205Z,1736357541.205 [DAT](INFO): DAT read: Bearing 343.1, -60.2 (Local)

2025-01-08T17:32:21.205Z,1736357541.205 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.1, -60.2 (Local)

2025-01-08T17:32:21.206Z,1736357541.206 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m  (Round-trip  3.5 ms) speed  0.2 m/s

2025-01-08T17:32:21.207Z,1736357541.207 [DAT](INFO): DAT read: user:236>

2025-01-08T17:32:21.208Z,1736357541.208 [DAT](INFO): DAT read: Tx time:17:32:20.4878

2025-01-08T17:32:21.208Z,1736357541.208 [DAT](INFO): Ping request sent.
2025-01-08T17:32:21.208Z,1736357541.208 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:32:21.209Z,1736357541.209 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-01-08T17:32:21.210Z,1736357541.210 [DAT](INFO): direction in FSK: [0.475511,-0.144471,0.867765]
2025-01-08T17:32:21.210Z,1736357541.210 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:21.210Z,1736357541.210 [DAT](INFO): publishing direction and range info
2025-01-08T17:32:21.214Z,1736357541.214 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:21.214Z,1736357541.214 [DAT](INFO): publishing direction and range info
2025-01-08T17:32:21.217Z,1736357541.217 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.008596
2025-01-08T17:32:21.448Z,1736357541.448 [DAT](INFO): DAT read: TxSync time:17:32:20.4871

2025-01-08T17:32:21.449Z,1736357541.449 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.240723
2025-01-08T17:32:21.568Z,1736357541.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:21.582Z,1736357541.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 3.528260 s,
      deltaX: -1.200000 m,
      approachRate: -0.340111 m/s,
      rangeRepo size: 4

2025-01-08T17:32:21.585Z,1736357541.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.600000 m,
      bearing: 233.104413 deg,
      lat: 36.904144 deg,
      lon: -122.119123 deg,
      deltaT: 10.340039 s,
      deltaX: -5.500000 m,
      approachRate: -0.531913 m/s,
      posRepo size: 4

2025-01-08T17:32:21.585Z,1736357541.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.60 m.
2025-01-08T17:32:21.586Z,1736357541.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-01-08T17:32:21.701Z,1736357541.701 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.492916
2025-01-08T17:32:21.953Z,1736357541.953 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.743777
2025-01-08T17:32:22.002Z,1736357542.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:22.010Z,1736357542.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:32:22.206Z,1736357542.206 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.997544
2025-01-08T17:32:22.379Z,1736357542.379 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:22.457Z,1736357542.457 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.248189
2025-01-08T17:32:22.709Z,1736357542.709 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.500331
2025-01-08T17:32:22.782Z,1736357542.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:22.960Z,1736357542.960 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.751808
2025-01-08T17:32:23.214Z,1736357543.214 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.005608
2025-01-08T17:32:23.226Z,1736357543.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:23.464Z,1736357543.464 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.255773
2025-01-08T17:32:23.588Z,1736357543.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:23.716Z,1736357543.716 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.507866
2025-01-08T17:32:23.968Z,1736357543.968 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.759717
2025-01-08T17:32:24.018Z,1736357544.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:24.042Z,1736357544.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:32:24.223Z,1736357544.223 [DAT](INFO): DAT read: Rx Time:17:32:22.8948

2025-01-08T17:32:24.224Z,1736357544.224 [DAT](INFO): Rx dataTimestamp_ set to:1736357544.223459
2025-01-08T17:32:24.226Z,1736357544.226 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.016840
2025-01-08T17:32:24.406Z,1736357544.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:24.472Z,1736357544.472 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=3.263945
2025-01-08T17:32:24.730Z,1736357544.730 [DAT](INFO): DAT read: 17:32:22.8949 LVL= 27632, 26513, 22946, 32755, AGC= 45, IDX= 441, 0.17, 2.341,-1.918,-1.678,-1.723, PHS=-2.132,-0.148, 0.042, RAW= 265.5,  20.8, CAL= 275.7,  26.5, ROT= 234.3, -26.5

2025-01-08T17:32:24.731Z,1736357544.731 [DAT](INFO): got valid direction response:
 17:32:22.8949 LVL= 27632, 26513, 22946, 32755, AGC= 45, IDX= 441, 0.17, 2.341,-1.918,-1.678,-1.723, PHS=-2.132,-0.148, 0.042, RAW= 265.5,  20.8, CAL= 275.7,  26.5, ROT= 234.3, -26.5

2025-01-08T17:32:24.732Z,1736357544.732 [DAT](INFO): DAT read: Bearing 234.3, -26.5 (Local)

2025-01-08T17:32:24.732Z,1736357544.732 [DAT](INFO): Local bearing/azimuth received:
 Bearing 234.3, -26.5 (Local)

2025-01-08T17:32:24.734Z,1736357544.734 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m  (Round-trip  2.8 ms) speed -0.4 m/s

2025-01-08T17:32:24.735Z,1736357544.735 [DAT](INFO): DAT read: user:237>

2025-01-08T17:32:24.736Z,1736357544.736 [DAT](INFO): DAT read: Tx time:17:32:23.9879

2025-01-08T17:32:24.737Z,1736357544.737 [DAT](INFO): Ping request sent.
2025-01-08T17:32:24.737Z,1736357544.737 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:32:24.737Z,1736357544.737 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-01-08T17:32:24.738Z,1736357544.738 [DAT](INFO): direction in FSK: [-0.522231,-0.726761,0.446198]
2025-01-08T17:32:24.738Z,1736357544.738 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:24.739Z,1736357544.739 [DAT](INFO): publishing direction and range info
2025-01-08T17:32:24.742Z,1736357544.742 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:24.742Z,1736357544.742 [DAT](INFO): publishing direction and range info
2025-01-08T17:32:24.746Z,1736357544.746 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.008788
2025-01-08T17:32:24.925Z,1736357544.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:24.952Z,1736357544.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.527695 s,
      deltaX: -0.500000 m,
      approachRate: -0.141736 m/s,
      rangeRepo size: 4

2025-01-08T17:32:24.955Z,1736357544.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.100000 m,
      bearing: 144.734620 deg,
      lat: 36.904138 deg,
      lon: -122.119119 deg,
      deltaT: 3.527695 s,
      deltaX: -0.500000 m,
      approachRate: -0.141736 m/s,
      posRepo size: 4

2025-01-08T17:32:24.977Z,1736357544.977 [DAT](INFO): DAT read: TxSync time:17:32:23.9872

2025-01-08T17:32:24.977Z,1736357544.977 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.240571
2025-01-08T17:32:25.233Z,1736357545.233 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.494942
2025-01-08T17:32:25.298Z,1736357545.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:25.480Z,1736357545.480 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.743366
2025-01-08T17:32:25.650Z,1736357545.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:25.733Z,1736357545.733 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=0.996488
2025-01-08T17:32:25.986Z,1736357545.986 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.249386
2025-01-08T17:32:26.073Z,1736357546.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:26.080Z,1736357546.080 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:32:26.236Z,1736357546.236 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.499347
2025-01-08T17:32:26.460Z,1736357546.460 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:26.489Z,1736357546.489 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=1.751729
2025-01-08T17:32:26.740Z,1736357546.740 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.003481
2025-01-08T17:32:26.857Z,1736357546.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:26.994Z,1736357546.994 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.256551
2025-01-08T17:32:27.244Z,1736357547.244 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.507301
2025-01-08T17:32:27.316Z,1736357547.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:27.496Z,1736357547.496 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.759391
2025-01-08T17:32:27.665Z,1736357547.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:27.749Z,1736357547.749 [DAT](INFO): DAT read: Rx Time:17:32:26.3970

2025-01-08T17:32:27.749Z,1736357547.749 [DAT](INFO): Rx dataTimestamp_ set to:1736357547.748740
2025-01-08T17:32:27.750Z,1736357547.750 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.012711
2025-01-08T17:32:28.000Z,1736357548.000 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=3.263428
2025-01-08T17:32:28.104Z,1736357548.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:28.114Z,1736357548.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:32:28.256Z,1736357548.256 [DAT](INFO): DAT read: Range 10 to 50 : 3.6 m  (Round-trip  4.9 ms) speed -0.6 m/s

2025-01-08T17:32:28.257Z,1736357548.257 [DAT](INFO): DAT read: user:238>

2025-01-08T17:32:28.259Z,1736357548.259 [DAT](INFO): DAT read: Tx time:17:32:27.4879

2025-01-08T17:32:28.260Z,1736357548.260 [DAT](INFO): Ping request sent.
2025-01-08T17:32:28.260Z,1736357548.260 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:32:28.261Z,1736357548.261 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-01-08T17:32:28.261Z,1736357548.261 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:28.262Z,1736357548.262 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:28.265Z,1736357548.265 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.004539
2025-01-08T17:32:28.472Z,1736357548.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:28.481Z,1736357548.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 3.529527 s,
      deltaX: 1.500000 m,
      approachRate: 0.424986 m/s,
      rangeRepo size: 4

2025-01-08T17:32:28.481Z,1736357548.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.60 m.
2025-01-08T17:32:28.505Z,1736357548.505 [DAT](INFO): DAT read: TxSync time:17:32:27.4872

2025-01-08T17:32:28.505Z,1736357548.505 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.245568
2025-01-08T17:32:28.757Z,1736357548.757 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.496797
2025-01-08T17:32:28.884Z,1736357548.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:29.010Z,1736357549.010 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=0.749464
2025-01-08T17:32:29.260Z,1736357549.260 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.000441
2025-01-08T17:32:29.322Z,1736357549.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:29.348Z,1736357549.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.60 m.
2025-01-08T17:32:29.512Z,1736357549.512 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.252330
2025-01-08T17:32:29.690Z,1736357549.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:29.721Z,1736357549.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.60 m.
2025-01-08T17:32:29.764Z,1736357549.764 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.504604
2025-01-08T17:32:30.016Z,1736357550.016 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=1.756380
2025-01-08T17:32:30.125Z,1736357550.125 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:30.132Z,1736357550.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:32:30.134Z,1736357550.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.60 m.
2025-01-08T17:32:30.269Z,1736357550.269 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.008816
2025-01-08T17:32:30.500Z,1736357550.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:30.517Z,1736357550.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.60 m.
2025-01-08T17:32:30.522Z,1736357550.522 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.262115
2025-01-08T17:32:30.772Z,1736357550.772 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.512332
2025-01-08T17:32:30.900Z,1736357550.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:31.024Z,1736357551.024 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=2.764503
2025-01-08T17:32:31.276Z,1736357551.276 [DAT](INFO): DAT read: Rx Time:17:32:29.9000

2025-01-08T17:32:31.277Z,1736357551.277 [DAT](INFO): Rx dataTimestamp_ set to:1736357551.276515
2025-01-08T17:32:31.277Z,1736357551.277 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.017500
2025-01-08T17:32:31.393Z,1736357551.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:31.411Z,1736357551.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.60 m.
2025-01-08T17:32:31.529Z,1736357551.529 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.269047
2025-01-08T17:32:31.722Z,1736357551.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:31.750Z,1736357551.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.60 m.
2025-01-08T17:32:31.787Z,1736357551.787 [DAT](INFO): DAT read: Range 10 to 50 : 5.9 m  (Round-trip  7.9 ms) speed -0.5 m/s

2025-01-08T17:32:31.788Z,1736357551.788 [DAT](INFO): DAT read: user:239>

2025-01-08T17:32:31.790Z,1736357551.790 [DAT](INFO): DAT read: Tx time:17:32:30.9879

2025-01-08T17:32:31.790Z,1736357551.790 [DAT](INFO): Ping request sent.
2025-01-08T17:32:31.790Z,1736357551.790 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:32:31.791Z,1736357551.791 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-01-08T17:32:31.791Z,1736357551.791 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:31.792Z,1736357551.792 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:31.793Z,1736357551.793 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.003099
2025-01-08T17:32:32.039Z,1736357552.039 [DAT](INFO): DAT read: TxSync time:17:32:30.9872

2025-01-08T17:32:32.040Z,1736357552.040 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.249658
2025-01-08T17:32:32.156Z,1736357552.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:32.163Z,1736357552.163 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:32:32.166Z,1736357552.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 3.529621 s,
      deltaX: 2.300000 m,
      approachRate: 0.651628 m/s,
      rangeRepo size: 4

2025-01-08T17:32:32.166Z,1736357552.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.90 m.
2025-01-08T17:32:32.294Z,1736357552.294 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.503998
2025-01-08T17:32:32.521Z,1736357552.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:32.529Z,1736357552.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 5.90 m.
2025-01-08T17:32:32.549Z,1736357552.549 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=0.758753
2025-01-08T17:32:32.801Z,1736357552.801 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.010511
2025-01-08T17:32:32.924Z,1736357552.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:33.053Z,1736357553.053 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.262276
2025-01-08T17:32:33.305Z,1736357553.305 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.514316
2025-01-08T17:32:33.364Z,1736357553.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:33.391Z,1736357553.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.90 m.
2025-01-08T17:32:33.557Z,1736357553.557 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=1.766523
2025-01-08T17:32:33.738Z,1736357553.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:33.746Z,1736357553.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 5.90 m.
2025-01-08T17:32:33.811Z,1736357553.811 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.020258
2025-01-08T17:32:34.060Z,1736357554.060 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.270008
2025-01-08T17:32:34.172Z,1736357554.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:34.179Z,1736357554.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:32:34.181Z,1736357554.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.90 m.
2025-01-08T17:32:34.313Z,1736357554.313 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.522811
2025-01-08T17:32:34.544Z,1736357554.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:34.564Z,1736357554.564 [DAT](INFO): DAT read: Rx Time:17:32:33.4026

2025-01-08T17:32:34.565Z,1736357554.565 [DAT](INFO): Rx dataTimestamp_ set to:1736357554.564428
2025-01-08T17:32:34.565Z,1736357554.565 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=2.775017
2025-01-08T17:32:34.577Z,1736357554.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 5.90 m.
2025-01-08T17:32:34.816Z,1736357554.816 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.025959
2025-01-08T17:32:34.947Z,1736357554.947 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:35.071Z,1736357555.071 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.281144
2025-01-08T17:32:35.322Z,1736357555.322 [DAT](INFO): DAT read: Range 10 to 50 : 7.8 m  (Round-trip  10.5 ms) speed -0.5 m/s

2025-01-08T17:32:35.322Z,1736357555.322 [DAT](INFO): DAT read: user:240>

2025-01-08T17:32:35.327Z,1736357555.327 [DAT](INFO): DAT read: Tx time:17:32:34.4879

2025-01-08T17:32:35.328Z,1736357555.328 [DAT](INFO): Ping request sent.
2025-01-08T17:32:35.328Z,1736357555.328 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:32:35.328Z,1736357555.328 [DAT](INFO): DAT read: TxSync time:17:32:34.4872

2025-01-08T17:32:35.329Z,1736357555.329 [DAT](ERROR): #Rx 20: Read range message, but no direction.
2025-01-08T17:32:35.329Z,1736357555.329 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:35.330Z,1736357555.330 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:35.331Z,1736357555.331 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.002725
2025-01-08T17:32:35.402Z,1736357555.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-08T17:32:35.403Z,1736357555.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:35.442Z,1736357555.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.800000 m,
      deltaT: 3.537112 s,
      deltaX: 1.900000 m,
      approachRate: 0.537161 m/s,
      rangeRepo size: 4

2025-01-08T17:32:35.451Z,1736357555.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 7.80 m.
2025-01-08T17:32:35.572Z,1736357555.572 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.244511
2025-01-08T17:32:35.771Z,1736357555.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:32:35.771Z,1736357555.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:35.825Z,1736357555.825 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.496816
2025-01-08T17:32:36.076Z,1736357556.076 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=0.748653
2025-01-08T17:32:36.197Z,1736357556.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:36.209Z,1736357556.209 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:32:36.329Z,1736357556.329 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.000774
2025-01-08T17:32:36.565Z,1736357556.565 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:36.580Z,1736357556.580 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.252593
2025-01-08T17:32:36.832Z,1736357556.832 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.504426
2025-01-08T17:32:36.964Z,1736357556.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:37.089Z,1736357557.089 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=1.760515
2025-01-08T17:32:37.337Z,1736357557.337 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.009193
2025-01-08T17:32:37.405Z,1736357557.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:37.588Z,1736357557.588 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.260498
2025-01-08T17:32:37.773Z,1736357557.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:37.841Z,1736357557.841 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.513154
2025-01-08T17:32:38.096Z,1736357558.096 [DAT](INFO): DAT read: Rx Time:17:32:36.9052

2025-01-08T17:32:38.097Z,1736357558.097 [DAT](INFO): Rx dataTimestamp_ set to:1736357558.096365
2025-01-08T17:32:38.100Z,1736357558.100 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=2.771142
2025-01-08T17:32:38.205Z,1736357558.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:38.217Z,1736357558.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:32:38.344Z,1736357558.344 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=3.016357
2025-01-08T17:32:38.599Z,1736357558.599 [DAT](INFO): DAT read: Range 10 to 50 : 9.8 m  (Round-trip  13.1 ms) speed -0.4 m/s

2025-01-08T17:32:38.600Z,1736357558.600 [DAT](INFO): DAT read: user:241>

2025-01-08T17:32:38.600Z,1736357558.600 [DAT](ERROR): #Rx 21: Read range message, but no direction.
2025-01-08T17:32:38.601Z,1736357558.601 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.273368
2025-01-08T17:32:38.672Z,1736357558.672 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:38.698Z,1736357558.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 3.277202 s,
      deltaX: 2.000000 m,
      approachRate: 0.610277 m/s,
      rangeRepo size: 4

2025-01-08T17:32:38.704Z,1736357558.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 9.80 m. Rolling out.
2025-01-08T17:32:38.704Z,1736357558.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-01-08T17:32:38.761Z,1736357558.761 [DockingStepper](INFO): Changing to mode: 1
2025-01-08T17:32:38.761Z,1736357558.761 [DockingStepper](INFO): Standby mode.
2025-01-08T17:32:38.820Z,1736357558.820 [DockingStepper](INFO): Commanding positive:54389
2025-01-08T17:32:38.850Z,1736357558.850 [DAT](INFO): DAT read: Tx time:17:32:37.9880

2025-01-08T17:32:38.850Z,1736357558.850 [DAT](INFO): Ping request sent.
2025-01-08T17:32:38.851Z,1736357558.851 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:32:38.851Z,1736357558.851 [DAT](INFO): DAT read: TxSync time:17:32:37.9873

2025-01-08T17:32:38.852Z,1736357558.852 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:38.853Z,1736357558.853 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.002036
2025-01-08T17:32:39.067Z,1736357559.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:39.104Z,1736357559.104 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.252864
2025-01-08T17:32:39.118Z,1736357559.118 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-01-08T17:32:39.119Z,1736357559.119 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-01-08T17:32:39.128Z,1736357559.128 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-01-08T17:32:39.131Z,1736357559.131 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 9.800000 m (mode  5.000000 count ).
2025-01-08T17:32:39.131Z,1736357559.131 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-01-08T17:32:39.132Z,1736357559.132 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-01-08T17:32:39.132Z,1736357559.132 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-01-08T17:32:39.133Z,1736357559.133 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-01-08T17:32:39.133Z,1736357559.133 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-01-08T17:32:39.134Z,1736357559.134 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with  1.000000 count pings  9.800000 m (mode  5.000000 count ).
2025-01-08T17:32:39.134Z,1736357559.134 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-01-08T17:32:39.134Z,1736357559.134 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-01-08T17:32:39.145Z,1736357559.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:39.147Z,1736357559.147 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-01-08T17:32:39.147Z,1736357559.147 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-01-08T17:32:39.147Z,1736357559.147 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-01-08T17:32:39.154Z,1736357559.154 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-08T17:32:39.353Z,1736357559.353 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.502628
2025-01-08T17:32:39.604Z,1736357559.604 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=0.753765
2025-01-08T17:32:39.693Z,1736357559.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:39.702Z,1736357559.702 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-01-08T17:32:39.702Z,1736357559.702 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-01-08T17:32:39.703Z,1736357559.703 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-01-08T17:32:39.704Z,1736357559.704 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-01-08T17:32:39.707Z,1736357559.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:39.857Z,1736357559.857 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.006015
2025-01-08T17:32:40.082Z,1736357560.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:40.112Z,1736357560.112 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.261067
2025-01-08T17:32:40.133Z,1736357560.133 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-01-08T17:32:40.133Z,1736357560.133 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-01-08T17:32:40.134Z,1736357560.134 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-01-08T17:32:40.134Z,1736357560.134 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-01-08T17:32:40.140Z,1736357560.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:40.360Z,1736357560.360 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.509769
2025-01-08T17:32:40.484Z,1736357560.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:40.498Z,1736357560.498 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-01-08T17:32:40.498Z,1736357560.498 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-01-08T17:32:40.498Z,1736357560.498 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-01-08T17:32:40.498Z,1736357560.498 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-01-08T17:32:40.499Z,1736357560.499 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-01-08T17:32:40.499Z,1736357560.499 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-01-08T17:32:40.499Z,1736357560.499 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-01-08T17:32:40.499Z,1736357560.499 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-01-08T17:32:40.501Z,1736357560.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:40.612Z,1736357560.612 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=1.761648
2025-01-08T17:32:40.864Z,1736357560.864 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.013762
2025-01-08T17:32:40.894Z,1736357560.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:40.905Z,1736357560.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:41.121Z,1736357561.121 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.269494
2025-01-08T17:32:41.350Z,1736357561.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:41.361Z,1736357561.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:41.368Z,1736357561.368 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.517780
2025-01-08T17:32:41.625Z,1736357561.625 [DAT](INFO): DAT read: Rx Time:17:32:40.4083

2025-01-08T17:32:41.626Z,1736357561.626 [DAT](INFO): Rx dataTimestamp_ set to:1736357561.625448
2025-01-08T17:32:41.626Z,1736357561.626 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=2.775927
2025-01-08T17:32:41.695Z,1736357561.695 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:41.725Z,1736357561.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:41.872Z,1736357561.872 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=3.021808
2025-01-08T17:32:42.130Z,1736357562.130 [DAT](INFO): DAT read: Range 10 to 50 : 12.0 m  (Round-trip  16.1 ms) speed -0.5 m/s

2025-01-08T17:32:42.133Z,1736357562.133 [DAT](INFO): DAT read: user:242>

2025-01-08T17:32:42.137Z,1736357562.137 [DAT](INFO): DAT read: Tx time:17:32:41.4880

2025-01-08T17:32:42.138Z,1736357562.138 [DAT](INFO): Ping request sent.
2025-01-08T17:32:42.138Z,1736357562.138 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:32:42.139Z,1736357562.139 [DAT](ERROR): #Rx 22: Read range message, but no direction.
2025-01-08T17:32:42.140Z,1736357562.140 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:42.142Z,1736357562.142 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:42.158Z,1736357562.158 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.019758
2025-01-08T17:32:42.170Z,1736357562.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:42.206Z,1736357562.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 3.528169 s,
      deltaX: 2.200000 m,
      approachRate: 0.623553 m/s,
      rangeRepo size: 4

2025-01-08T17:32:42.206Z,1736357562.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:42.376Z,1736357562.376 [DAT](INFO): DAT read: TxSync time:17:32:41.4873

2025-01-08T17:32:42.377Z,1736357562.377 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.239588
2025-01-08T17:32:42.517Z,1736357562.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:42.546Z,1736357562.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:42.631Z,1736357562.631 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.493253
2025-01-08T17:32:42.880Z,1736357562.880 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.742702
2025-01-08T17:32:42.920Z,1736357562.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:42.936Z,1736357562.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:43.136Z,1736357563.136 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=0.997149
2025-01-08T17:32:43.332Z,1736357563.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:43.342Z,1736357563.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:43.389Z,1736357563.389 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.251316
2025-01-08T17:32:43.636Z,1736357563.636 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.498581
2025-01-08T17:32:43.730Z,1736357563.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:43.741Z,1736357563.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:43.888Z,1736357563.888 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=1.750781
2025-01-08T17:32:44.116Z,1736357564.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:44.144Z,1736357564.144 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.005955
2025-01-08T17:32:44.176Z,1736357564.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:44.395Z,1736357564.395 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.257246
2025-01-08T17:32:44.550Z,1736357564.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:44.581Z,1736357564.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:44.645Z,1736357564.645 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.507355
2025-01-08T17:32:44.896Z,1736357564.896 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=2.758671
2025-01-08T17:32:44.912Z,1736357564.912 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:32:44.923Z,1736357564.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:44.931Z,1736357564.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:45.149Z,1736357565.149 [DAT](INFO): DAT read: Rx Time:17:32:43.9109

2025-01-08T17:32:45.150Z,1736357565.150 [DAT](INFO): Rx dataTimestamp_ set to:1736357565.149213
2025-01-08T17:32:45.154Z,1736357565.154 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.015693
2025-01-08T17:32:45.351Z,1736357565.351 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:45.366Z,1736357565.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:45.400Z,1736357565.400 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=3.262746
2025-01-08T17:32:45.654Z,1736357565.654 [DAT](INFO): DAT read: Range 10 to 50 : 14.0 m  (Round-trip  18.7 ms) speed -0.4 m/s

2025-01-08T17:32:45.655Z,1736357565.655 [DAT](INFO): DAT read: user:243>

2025-01-08T17:32:45.656Z,1736357565.656 [DAT](INFO): DAT read: Tx time:17:32:44.9880

2025-01-08T17:32:45.656Z,1736357565.656 [DAT](INFO): Ping request sent.
2025-01-08T17:32:45.656Z,1736357565.656 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:32:45.656Z,1736357565.656 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-01-08T17:32:45.657Z,1736357565.657 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:45.657Z,1736357565.657 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:45.658Z,1736357565.658 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.001906
2025-01-08T17:32:45.749Z,1736357565.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:45.777Z,1736357565.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 3.526401 s,
      deltaX: 2.000000 m,
      approachRate: 0.567150 m/s,
      rangeRepo size: 4

2025-01-08T17:32:45.778Z,1736357565.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:45.904Z,1736357565.904 [DAT](INFO): DAT read: TxSync time:17:32:44.9873

2025-01-08T17:32:45.905Z,1736357565.905 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.249032
2025-01-08T17:32:45.918Z,1736357565.918 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:32:46.137Z,1736357566.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:46.146Z,1736357566.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:46.160Z,1736357566.160 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.503639
2025-01-08T17:32:46.408Z,1736357566.408 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=0.752117
2025-01-08T17:32:46.578Z,1736357566.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:46.589Z,1736357566.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:46.661Z,1736357566.661 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.004781
2025-01-08T17:32:46.913Z,1736357566.913 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.256320
2025-01-08T17:32:46.948Z,1736357566.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:46.957Z,1736357566.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:47.167Z,1736357567.167 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.510534
2025-01-08T17:32:47.370Z,1736357567.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:47.399Z,1736357567.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:47.418Z,1736357567.418 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=1.761195
2025-01-08T17:32:47.668Z,1736357567.668 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.012053
2025-01-08T17:32:47.757Z,1736357567.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:47.766Z,1736357567.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:47.921Z,1736357567.921 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.264548
2025-01-08T17:32:48.152Z,1736357568.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:48.172Z,1736357568.172 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.516168
2025-01-08T17:32:48.193Z,1736357568.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:48.424Z,1736357568.424 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=2.768184
2025-01-08T17:32:48.599Z,1736357568.599 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:48.608Z,1736357568.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:48.678Z,1736357568.678 [DAT](INFO): DAT read: Rx Time:17:32:47.4129

2025-01-08T17:32:48.679Z,1736357568.679 [DAT](INFO): Rx dataTimestamp_ set to:1736357568.677927
2025-01-08T17:32:48.680Z,1736357568.680 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.022899
2025-01-08T17:32:48.928Z,1736357568.928 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=3.272016
2025-01-08T17:32:48.972Z,1736357568.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:48.980Z,1736357568.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:49.188Z,1736357569.188 [DAT](INFO): DAT read: Range 10 to 50 : 15.5 m  (Round-trip  20.7 ms) speed -0.4 m/s

2025-01-08T17:32:49.189Z,1736357569.189 [DAT](INFO): DAT read: user:244>

2025-01-08T17:32:49.189Z,1736357569.189 [DAT](INFO): DAT read: Tx time:17:32:48.4881

2025-01-08T17:32:49.190Z,1736357569.190 [DAT](INFO): Ping request sent.
2025-01-08T17:32:49.190Z,1736357569.190 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:32:49.190Z,1736357569.190 [DAT](ERROR): #Rx 24: Read range message, but no direction.
2025-01-08T17:32:49.190Z,1736357569.190 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:49.191Z,1736357569.191 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:49.194Z,1736357569.194 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.003676
2025-01-08T17:32:49.397Z,1736357569.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:49.408Z,1736357569.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 3.531889 s,
      deltaX: 1.500000 m,
      approachRate: 0.424702 m/s,
      rangeRepo size: 4

2025-01-08T17:32:49.408Z,1736357569.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:49.433Z,1736357569.433 [DAT](INFO): DAT read: TxSync time:17:32:48.4874

2025-01-08T17:32:49.434Z,1736357569.434 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.243823
2025-01-08T17:32:49.686Z,1736357569.686 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.496195
2025-01-08T17:32:49.770Z,1736357569.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:49.799Z,1736357569.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:49.937Z,1736357569.937 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.747259
2025-01-08T17:32:50.188Z,1736357570.188 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=0.998767
2025-01-08T17:32:50.231Z,1736357570.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:50.294Z,1736357570.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:50.440Z,1736357570.440 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.250634
2025-01-08T17:32:50.635Z,1736357570.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:50.644Z,1736357570.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:50.693Z,1736357570.693 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.503410
2025-01-08T17:32:50.944Z,1736357570.944 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=1.754648
2025-01-08T17:32:51.038Z,1736357571.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:51.047Z,1736357571.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:51.196Z,1736357571.196 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.006619
2025-01-08T17:32:51.448Z,1736357571.448 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.258657
2025-01-08T17:32:51.481Z,1736357571.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:51.490Z,1736357571.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:51.701Z,1736357571.701 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.511200
2025-01-08T17:32:51.862Z,1736357571.862 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:51.872Z,1736357571.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:51.954Z,1736357571.954 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=2.764301
2025-01-08T17:32:52.204Z,1736357572.204 [DAT](INFO): DAT read: Rx Time:17:32:50.9149

2025-01-08T17:32:52.205Z,1736357572.205 [DAT](INFO): Rx dataTimestamp_ set to:1736357572.204449
2025-01-08T17:32:52.205Z,1736357572.205 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.015625
2025-01-08T17:32:52.377Z,1736357572.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:52.387Z,1736357572.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:52.456Z,1736357572.456 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=3.266734
2025-01-08T17:32:52.666Z,1736357572.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:52.674Z,1736357572.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:52.710Z,1736357572.710 [DAT](INFO): DAT read: Range 10 to 50 : 16.9 m  (Round-trip  22.6 ms) speed -0.4 m/s

2025-01-08T17:32:52.711Z,1736357572.711 [DAT](INFO): DAT read: user:245>

2025-01-08T17:32:52.712Z,1736357572.712 [DAT](INFO): DAT read: Tx time:17:32:51.9881

2025-01-08T17:32:52.712Z,1736357572.712 [DAT](INFO): Ping request sent.
2025-01-08T17:32:52.713Z,1736357572.713 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:32:52.713Z,1736357572.713 [DAT](ERROR): #Rx 25: Read range message, but no direction.
2025-01-08T17:32:52.713Z,1736357572.713 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:52.714Z,1736357572.714 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:52.714Z,1736357572.714 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.001921
2025-01-08T17:32:52.960Z,1736357572.960 [DAT](INFO): DAT read: TxSync time:17:32:51.9874

2025-01-08T17:32:52.961Z,1736357572.961 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.248607
2025-01-08T17:32:53.098Z,1736357573.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:53.108Z,1736357573.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.900000 m,
      deltaT: 3.524790 s,
      deltaX: 1.400000 m,
      approachRate: 0.397187 m/s,
      rangeRepo size: 4

2025-01-08T17:32:53.109Z,1736357573.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:53.212Z,1736357573.212 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.499854
2025-01-08T17:32:53.464Z,1736357573.464 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=0.751756
2025-01-08T17:32:53.521Z,1736357573.521 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:53.529Z,1736357573.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:53.718Z,1736357573.718 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.004708
2025-01-08T17:32:53.909Z,1736357573.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:53.917Z,1736357573.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:53.969Z,1736357573.969 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.255937
2025-01-08T17:32:54.220Z,1736357574.220 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.507759
2025-01-08T17:32:54.391Z,1736357574.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:54.416Z,1736357574.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:54.472Z,1736357574.472 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=1.759824
2025-01-08T17:32:54.726Z,1736357574.726 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.013201
2025-01-08T17:32:54.824Z,1736357574.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:54.842Z,1736357574.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:54.976Z,1736357574.976 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.263623
2025-01-08T17:32:55.221Z,1736357575.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:55.231Z,1736357575.231 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.518099
2025-01-08T17:32:55.261Z,1736357575.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:55.482Z,1736357575.482 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=2.769220
2025-01-08T17:32:55.732Z,1736357575.732 [DAT](INFO): DAT read: Rx Time:17:32:54.4168

2025-01-08T17:32:55.733Z,1736357575.733 [DAT](INFO): Rx dataTimestamp_ set to:1736357575.732536
2025-01-08T17:32:55.733Z,1736357575.733 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.020816
2025-01-08T17:32:55.749Z,1736357575.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:55.788Z,1736357575.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:55.984Z,1736357575.984 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=3.271693
2025-01-08T17:32:56.200Z,1736357576.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:56.209Z,1736357576.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:56.238Z,1736357576.238 [DAT](INFO): DAT read: Range 10 to 50 : 18.4 m  (Round-trip  24.6 ms) speed -0.4 m/s

2025-01-08T17:32:56.240Z,1736357576.240 [DAT](INFO): DAT read: user:246>

2025-01-08T17:32:56.241Z,1736357576.241 [DAT](INFO): DAT read: Tx time:17:32:55.5381

2025-01-08T17:32:56.241Z,1736357576.241 [DAT](INFO): Ping request sent.
2025-01-08T17:32:56.241Z,1736357576.241 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:32:56.242Z,1736357576.242 [DAT](ERROR): #Rx 26: Read range message, but no direction.
2025-01-08T17:32:56.242Z,1736357576.242 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:56.243Z,1736357576.243 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:56.244Z,1736357576.244 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.002349
2025-01-08T17:32:56.488Z,1736357576.488 [DAT](INFO): DAT read: TxSync time:17:32:55.5374

2025-01-08T17:32:56.489Z,1736357576.489 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.247885
2025-01-08T17:32:56.620Z,1736357576.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:32:56.620Z,1736357576.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:56.630Z,1736357576.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.400000 m,
      deltaT: 3.527848 s,
      deltaX: 1.500000 m,
      approachRate: 0.425188 m/s,
      rangeRepo size: 4

2025-01-08T17:32:56.630Z,1736357576.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:56.740Z,1736357576.740 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.499128
2025-01-08T17:32:56.992Z,1736357576.992 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=0.751214
2025-01-08T17:32:57.002Z,1736357577.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:32:57.002Z,1736357577.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:57.031Z,1736357577.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:57.245Z,1736357577.245 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.003765
2025-01-08T17:32:57.446Z,1736357577.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:57.455Z,1736357577.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:57.497Z,1736357577.497 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.256124
2025-01-08T17:32:57.748Z,1736357577.748 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.507131
2025-01-08T17:32:57.814Z,1736357577.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:57.827Z,1736357577.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:58.000Z,1736357578.000 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=1.759076
2025-01-08T17:32:58.218Z,1736357578.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:58.228Z,1736357578.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:58.253Z,1736357578.253 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.011679
2025-01-08T17:32:58.504Z,1736357578.504 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.263159
2025-01-08T17:32:58.642Z,1736357578.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:58.651Z,1736357578.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:58.756Z,1736357578.756 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.515096
2025-01-08T17:32:59.009Z,1736357579.009 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=2.767689
2025-01-08T17:32:59.025Z,1736357579.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:59.033Z,1736357579.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:59.260Z,1736357579.260 [DAT](INFO): DAT read: Rx Time:17:32:57.9685

2025-01-08T17:32:59.261Z,1736357579.261 [DAT](INFO): Rx dataTimestamp_ set to:1736357579.260509
2025-01-08T17:32:59.261Z,1736357579.261 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.020191
2025-01-08T17:32:59.466Z,1736357579.466 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:59.494Z,1736357579.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:32:59.513Z,1736357579.513 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=3.271384
2025-01-08T17:32:59.765Z,1736357579.765 [DAT](INFO): DAT read: Range 10 to 50 : 19.5 m  (Round-trip  26.1 ms) speed -0.2 m/s

2025-01-08T17:32:59.766Z,1736357579.766 [DAT](INFO): DAT read: user:247>

2025-01-08T17:32:59.767Z,1736357579.767 [DAT](INFO): DAT read: Tx time:17:32:59.0882

2025-01-08T17:32:59.767Z,1736357579.767 [DAT](INFO): Ping request sent.
2025-01-08T17:32:59.767Z,1736357579.767 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:32:59.768Z,1736357579.768 [DAT](ERROR): #Rx 27: Read range message, but no direction.
2025-01-08T17:32:59.768Z,1736357579.768 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:59.768Z,1736357579.768 [DAT](INFO): publishing transmit ping time
2025-01-08T17:32:59.769Z,1736357579.769 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.001914
2025-01-08T17:32:59.889Z,1736357579.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:32:59.912Z,1736357579.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 3.527596 s,
      deltaX: 1.100000 m,
      approachRate: 0.311827 m/s,
      rangeRepo size: 4

2025-01-08T17:32:59.914Z,1736357579.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:00.016Z,1736357580.016 [DAT](INFO): DAT read: TxSync time:17:32:59.0875

2025-01-08T17:33:00.017Z,1736357580.017 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.249885
2025-01-08T17:33:00.269Z,1736357580.269 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.501263
2025-01-08T17:33:00.322Z,1736357580.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:00.331Z,1736357580.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:00.520Z,1736357580.520 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=0.753047
2025-01-08T17:33:00.756Z,1736357580.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:00.772Z,1736357580.772 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.004931
2025-01-08T17:33:00.781Z,1736357580.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:01.025Z,1736357581.025 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.257197
2025-01-08T17:33:01.184Z,1736357581.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:01.212Z,1736357581.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:01.278Z,1736357581.277 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.509815
2025-01-08T17:33:01.528Z,1736357581.528 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=1.760956
2025-01-08T17:33:01.605Z,1736357581.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:01.634Z,1736357581.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:01.780Z,1736357581.780 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.012826
2025-01-08T17:33:02.032Z,1736357582.032 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.264962
2025-01-08T17:33:02.042Z,1736357582.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:02.050Z,1736357582.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:02.285Z,1736357582.285 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.517244
2025-01-08T17:33:02.493Z,1736357582.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:02.526Z,1736357582.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:02.537Z,1736357582.537 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=2.769290
2025-01-08T17:33:02.788Z,1736357582.788 [DAT](INFO): DAT read: Rx Time:17:33:01.5196

2025-01-08T17:33:02.789Z,1736357582.789 [DAT](INFO): Rx dataTimestamp_ set to:1736357582.788455
2025-01-08T17:33:02.789Z,1736357582.789 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.021927
2025-01-08T17:33:02.926Z,1736357582.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:02.940Z,1736357582.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:03.041Z,1736357583.041 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=3.273320
2025-01-08T17:33:03.293Z,1736357583.293 [DAT](INFO): DAT read: Range 10 to 50 : 20.4 m  (Round-trip  27.2 ms) speed -0.2 m/s

2025-01-08T17:33:03.294Z,1736357583.294 [DAT](INFO): DAT read: user:248>

2025-01-08T17:33:03.295Z,1736357583.295 [DAT](INFO): DAT read: Tx time:17:33:02.6382

2025-01-08T17:33:03.295Z,1736357583.295 [DAT](INFO): Ping request sent.
2025-01-08T17:33:03.295Z,1736357583.295 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:33:03.295Z,1736357583.295 [DAT](ERROR): #Rx 28: Read range message, but no direction.
2025-01-08T17:33:03.296Z,1736357583.296 [DAT](INFO): publishing transmit ping time
2025-01-08T17:33:03.296Z,1736357583.296 [DAT](INFO): publishing transmit ping time
2025-01-08T17:33:03.297Z,1736357583.297 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.002025
2025-01-08T17:33:03.326Z,1736357583.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:03.373Z,1736357583.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.400000 m,
      deltaT: 3.527755 s,
      deltaX: 0.900000 m,
      approachRate: 0.255120 m/s,
      rangeRepo size: 4

2025-01-08T17:33:03.374Z,1736357583.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:03.545Z,1736357583.545 [DAT](INFO): DAT read: TxSync time:17:33:02.6375

2025-01-08T17:33:03.546Z,1736357583.546 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.250450
2025-01-08T17:33:03.748Z,1736357583.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:03.758Z,1736357583.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:03.796Z,1736357583.796 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.501324
2025-01-08T17:33:04.048Z,1736357584.048 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=0.753185
2025-01-08T17:33:04.126Z,1736357584.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:04.147Z,1736357584.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:04.300Z,1736357584.300 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.005187
2025-01-08T17:33:04.553Z,1736357584.553 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.258378
2025-01-08T17:33:04.592Z,1736357584.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:04.609Z,1736357584.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:04.804Z,1736357584.804 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.509140
2025-01-08T17:33:04.934Z,1736357584.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:04.946Z,1736357584.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:05.057Z,1736357585.057 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=1.761543
2025-01-08T17:33:05.308Z,1736357585.308 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.013292
2025-01-08T17:33:05.366Z,1736357585.366 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:05.393Z,1736357585.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:05.561Z,1736357585.561 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.265449
2025-01-08T17:33:05.773Z,1736357585.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:05.781Z,1736357585.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:05.813Z,1736357585.813 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.517540
2025-01-08T17:33:06.064Z,1736357586.064 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=2.769259
2025-01-08T17:33:06.147Z,1736357586.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:06.172Z,1736357586.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:06.316Z,1736357586.316 [DAT](INFO): DAT read: Rx Time:17:33:05.0708

2025-01-08T17:33:06.317Z,1736357586.317 [DAT](INFO): Rx dataTimestamp_ set to:1736357586.316588
2025-01-08T17:33:06.317Z,1736357586.317 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.022374
2025-01-08T17:33:06.569Z,1736357586.569 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=3.274252
2025-01-08T17:33:06.601Z,1736357586.601 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:06.617Z,1736357586.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:06.822Z,1736357586.822 [DAT](INFO): DAT read: Range 10 to 50 : 21.2 m  (Round-trip  28.3 ms) speed -0.3 m/s

2025-01-08T17:33:06.822Z,1736357586.822 [DAT](INFO): DAT read: user:249>

2025-01-08T17:33:06.823Z,1736357586.823 [DAT](INFO): DAT read: Tx time:17:33:06.1883

2025-01-08T17:33:06.823Z,1736357586.823 [DAT](INFO): Ping request sent.
2025-01-08T17:33:06.824Z,1736357586.824 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:33:06.824Z,1736357586.824 [DAT](ERROR): #Rx 29: Read range message, but no direction.
2025-01-08T17:33:06.824Z,1736357586.824 [DAT](INFO): publishing transmit ping time
2025-01-08T17:33:06.825Z,1736357586.825 [DAT](INFO): publishing transmit ping time
2025-01-08T17:33:06.826Z,1736357586.826 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.001933
2025-01-08T17:33:06.958Z,1736357586.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:06.968Z,1736357586.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 3.528383 s,
      deltaX: 0.800001 m,
      approachRate: 0.226733 m/s,
      rangeRepo size: 4

2025-01-08T17:33:06.968Z,1736357586.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:07.073Z,1736357587.073 [DAT](INFO): DAT read: TxSync time:17:33:06.1875

2025-01-08T17:33:07.074Z,1736357587.074 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.250120
2025-01-08T17:33:07.324Z,1736357587.324 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.500676
2025-01-08T17:33:07.378Z,1736357587.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:07.390Z,1736357587.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:07.576Z,1736357587.576 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=0.752773
2025-01-08T17:33:07.796Z,1736357587.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:07.806Z,1736357587.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:07.840Z,1736357587.840 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.016425
2025-01-08T17:33:08.080Z,1736357588.080 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.256734
2025-01-08T17:33:08.176Z,1736357588.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:08.184Z,1736357588.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:08.332Z,1736357588.332 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.508712
2025-01-08T17:33:08.584Z,1736357588.584 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=1.760745
2025-01-08T17:33:08.606Z,1736357588.606 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:08.614Z,1736357588.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:08.839Z,1736357588.839 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.015541
2025-01-08T17:33:08.986Z,1736357588.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:08.994Z,1736357588.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:09.089Z,1736357589.089 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.265531
2025-01-08T17:33:09.340Z,1736357589.340 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.516690
2025-01-08T17:33:09.392Z,1736357589.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:09.401Z,1736357589.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:09.593Z,1736357589.593 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=2.768970
2025-01-08T17:33:09.809Z,1736357589.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:09.818Z,1736357589.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:09.844Z,1736357589.844 [DAT](INFO): DAT read: Rx Time:17:33:08.6220

2025-01-08T17:33:09.845Z,1736357589.845 [DAT](INFO): Rx dataTimestamp_ set to:1736357589.844677
2025-01-08T17:33:09.846Z,1736357589.846 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.021950
2025-01-08T17:33:10.096Z,1736357590.096 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=3.272769
2025-01-08T17:33:10.199Z,1736357590.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:10.209Z,1736357590.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:10.349Z,1736357590.349 [DAT](INFO): DAT read: Range 10 to 50 : 22.1 m  (Round-trip  29.5 ms) speed -0.3 m/s

2025-01-08T17:33:10.350Z,1736357590.350 [DAT](INFO): DAT read: user:250>

2025-01-08T17:33:10.351Z,1736357590.351 [DAT](ERROR): #Rx 30: Read range message, but no direction.
2025-01-08T17:33:10.352Z,1736357590.352 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.528847
2025-01-08T17:33:10.600Z,1736357590.600 [DAT](INFO): DAT read: Tx time:17:33:09.7383

2025-01-08T17:33:10.601Z,1736357590.601 [DAT](INFO): Ping request sent.
2025-01-08T17:33:10.601Z,1736357590.601 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:33:10.602Z,1736357590.602 [DAT](INFO): DAT read: TxSync time:17:33:09.7375

2025-01-08T17:33:10.603Z,1736357590.603 [DAT](INFO): publishing transmit ping time
2025-01-08T17:33:10.603Z,1736357590.603 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.002384
2025-01-08T17:33:10.674Z,1736357590.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:10.706Z,1736357590.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 3.527996 s,
      deltaX: 0.900000 m,
      approachRate: 0.255102 m/s,
      rangeRepo size: 4

2025-01-08T17:33:10.707Z,1736357590.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:10.853Z,1736357590.853 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.251946
2025-01-08T17:33:11.009Z,1736357591.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:11.042Z,1736357591.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:11.106Z,1736357591.106 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.504894
2025-01-08T17:33:11.360Z,1736357591.360 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=0.759504
2025-01-08T17:33:11.428Z,1736357591.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:11.437Z,1736357591.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:11.612Z,1736357591.612 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.011349
2025-01-08T17:33:11.841Z,1736357591.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:11.850Z,1736357591.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:11.879Z,1736357591.879 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.277983
2025-01-08T17:33:12.118Z,1736357592.118 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.516618
2025-01-08T17:33:12.217Z,1736357592.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:12.227Z,1736357592.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:12.369Z,1736357592.369 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=1.768039
2025-01-08T17:33:12.621Z,1736357592.621 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.020446
2025-01-08T17:33:12.676Z,1736357592.676 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:12.701Z,1736357592.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:12.872Z,1736357592.872 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.271505
2025-01-08T17:33:13.124Z,1736357593.124 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.523484
2025-01-08T17:33:13.158Z,1736357593.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:13.167Z,1736357593.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:13.378Z,1736357593.378 [DAT](INFO): DAT read: Rx Time:17:33:12.1734

2025-01-08T17:33:13.392Z,1736357593.392 [DAT](INFO): Rx dataTimestamp_ set to:1736357593.378905
2025-01-08T17:33:13.393Z,1736357593.393 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=2.791889
2025-01-08T17:33:13.537Z,1736357593.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:13.562Z,1736357593.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:13.631Z,1736357593.631 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=3.029541
2025-01-08T17:33:13.883Z,1736357593.883 [DAT](INFO): DAT read: Range 10 to 50 : 23.1 m  (Round-trip  30.9 ms) speed -0.2 m/s

2025-01-08T17:33:13.886Z,1736357593.886 [DAT](INFO): DAT read: user:251>

2025-01-08T17:33:13.887Z,1736357593.887 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-01-08T17:33:13.888Z,1736357593.888 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.286989
2025-01-08T17:33:13.985Z,1736357593.985 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:13.994Z,1736357593.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 3.533232 s,
      deltaX: 1.000000 m,
      approachRate: 0.283027 m/s,
      rangeRepo size: 4

2025-01-08T17:33:13.994Z,1736357593.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:14.132Z,1736357594.132 [DAT](INFO): DAT read: Tx time:17:33:13.2883

2025-01-08T17:33:14.133Z,1736357594.133 [DAT](INFO): Ping request sent.
2025-01-08T17:33:14.133Z,1736357594.133 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:33:14.133Z,1736357594.133 [DAT](INFO): DAT read: TxSync time:17:33:13.2875

2025-01-08T17:33:14.134Z,1736357594.134 [DAT](INFO): publishing transmit ping time
2025-01-08T17:33:14.134Z,1736357594.134 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.001607
2025-01-08T17:33:14.332Z,1736357594.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:14.342Z,1736357594.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:14.385Z,1736357594.385 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.251554
2025-01-08T17:33:14.639Z,1736357594.639 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.505581
2025-01-08T17:33:14.752Z,1736357594.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:14.781Z,1736357594.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:14.889Z,1736357594.889 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=0.755714
2025-01-08T17:33:15.140Z,1736357595.140 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.007546
2025-01-08T17:33:15.142Z,1736357595.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:15.150Z,1736357595.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:15.392Z,1736357595.392 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.259416
2025-01-08T17:33:15.551Z,1736357595.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:15.560Z,1736357595.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:15.660Z,1736357595.660 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.517854
2025-01-08T17:33:15.896Z,1736357595.896 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=1.763501
2025-01-08T17:33:15.970Z,1736357595.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:15.998Z,1736357595.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:16.037Z,1736357596.037 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:33:16.150Z,1736357596.150 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.017413
2025-01-08T17:33:16.382Z,1736357596.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:16.391Z,1736357596.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:16.400Z,1736357596.400 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.267438
2025-01-08T17:33:16.656Z,1736357596.656 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.522927
2025-01-08T17:33:16.796Z,1736357596.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:16.805Z,1736357596.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:16.904Z,1736357596.904 [DAT](INFO): DAT read: Rx Time:17:33:15.7245

2025-01-08T17:33:16.905Z,1736357596.905 [DAT](INFO): Rx dataTimestamp_ set to:1736357596.904536
2025-01-08T17:33:16.905Z,1736357596.905 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=2.772575
2025-01-08T17:33:17.040Z,1736357597.040 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:33:17.156Z,1736357597.156 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.023500
2025-01-08T17:33:17.165Z,1736357597.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:17.196Z,1736357597.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:17.412Z,1736357597.412 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=3.278545
2025-01-08T17:33:17.563Z,1736357597.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:17.573Z,1736357597.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:17.676Z,1736357597.676 [DAT](INFO): DAT read: Range 10 to 50 : 23.9 m  (Round-trip  31.9 ms) speed -0.1 m/s

2025-01-08T17:33:17.681Z,1736357597.681 [DAT](INFO): DAT read: user:252>

2025-01-08T17:33:17.694Z,1736357597.694 [DAT](INFO): DAT read: Tx time:17:33:16.8400

2025-01-08T17:33:17.704Z,1736357597.704 [DAT](INFO): Ping request sent.
2025-01-08T17:33:17.704Z,1736357597.704 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:33:17.705Z,1736357597.705 [DAT](INFO): DAT read: TxSync time:17:33:16.8392

2025-01-08T17:33:17.705Z,1736357597.705 [DAT](ERROR): #Rx 32: Read range message, but no direction.
2025-01-08T17:33:17.705Z,1736357597.705 [DAT](INFO): publishing transmit ping time
2025-01-08T17:33:17.706Z,1736357597.706 [DAT](INFO): publishing transmit ping time
2025-01-08T17:33:17.712Z,1736357597.712 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.017021
2025-01-08T17:33:17.912Z,1736357597.912 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.217323
2025-01-08T17:33:17.995Z,1736357597.995 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:18.006Z,1736357598.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.900000 m,
      deltaT: 3.781091 s,
      deltaX: 0.799999 m,
      approachRate: 0.211579 m/s,
      rangeRepo size: 4

2025-01-08T17:33:18.006Z,1736357598.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:18.164Z,1736357598.164 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.469465
2025-01-08T17:33:18.369Z,1736357598.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:18.378Z,1736357598.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:18.417Z,1736357598.417 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.721975
2025-01-08T17:33:18.672Z,1736357598.672 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=0.976455
2025-01-08T17:33:18.797Z,1736357598.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:18.806Z,1736357598.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:18.923Z,1736357598.923 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.227630
2025-01-08T17:33:19.174Z,1736357599.174 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.478726
2025-01-08T17:33:19.200Z,1736357599.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:19.218Z,1736357599.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:19.425Z,1736357599.425 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.729540
2025-01-08T17:33:19.604Z,1736357599.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:19.637Z,1736357599.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:19.681Z,1736357599.681 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=1.985053
2025-01-08T17:33:19.928Z,1736357599.928 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=2.233172
2025-01-08T17:33:20.027Z,1736357600.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:20.037Z,1736357600.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:20.181Z,1736357600.181 [DAT](INFO): DAT read: Rx Time:17:33:19.0014 

2025-01-08T17:33:20.181Z,1736357600.181 [DAT](INFO): Rx dataTimestamp_ set to:1736357600.180776
2025-01-08T17:33:20.182Z,1736357600.182 [DAT](INFO): DAT read: Range 10 to 50 :    24.3 m (trip time 16.2 ms) speed 0.0

2025-01-08T17:33:20.183Z,1736357600.183 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-01-08T17:33:20.184Z,1736357600.184 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.488900
2025-01-08T17:33:20.402Z,1736357600.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:20.427Z,1736357600.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 2.518429 s,
      deltaX: 0.400000 m,
      approachRate: 0.158829 m/s,
      rangeRepo size: 4

2025-01-08T17:33:20.428Z,1736357600.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:20.432Z,1736357600.432 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=2.737423
2025-01-08T17:33:20.689Z,1736357600.689 [DAT](INFO): DAT read: Rx Time:17:33:19.5015 

2025-01-08T17:33:20.690Z,1736357600.690 [DAT](INFO): Rx dataTimestamp_ set to:1736357600.689258
2025-01-08T17:33:20.696Z,1736357600.696 [DAT](INFO): DAT read: Range 10 to 50 :    24.5 m (trip time 16.3 ms) speed 0.0

2025-01-08T17:33:20.699Z,1736357600.699 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-01-08T17:33:20.703Z,1736357600.703 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.007055
2025-01-08T17:33:20.828Z,1736357600.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:20.839Z,1736357600.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 0.508482 s,
      deltaX: 0.200001 m,
      approachRate: 0.393329 m/s,
      rangeRepo size: 4

2025-01-08T17:33:20.840Z,1736357600.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:20.937Z,1736357600.937 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=3.241681
2025-01-08T17:33:21.189Z,1736357601.189 [DAT](INFO): DAT read: Rx Time:17:33:20.0014 

2025-01-08T17:33:21.189Z,1736357601.189 [DAT](INFO): Rx dataTimestamp_ set to:1736357601.188770
2025-01-08T17:33:21.190Z,1736357601.190 [DAT](INFO): DAT read: Range 10 to 50 :    24.3 m (trip time 16.2 ms) speed -0.1

2025-01-08T17:33:21.191Z,1736357601.191 [DAT](ERROR): #Rx 35: Read range message, but no direction.
2025-01-08T17:33:21.192Z,1736357601.192 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.496947
2025-01-08T17:33:21.211Z,1736357601.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:21.220Z,1736357601.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.499512 s,
      deltaX: -0.200001 m,
      approachRate: -0.400392 m/s,
      rangeRepo size: 4

2025-01-08T17:33:21.221Z,1736357601.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:21.440Z,1736357601.440 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=3.745253
2025-01-08T17:33:21.615Z,1736357601.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:21.642Z,1736357601.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:21.697Z,1736357601.697 [DAT](INFO): DAT read: Rx Time:17:33:20.5015 

2025-01-08T17:33:21.698Z,1736357601.698 [DAT](INFO): Rx dataTimestamp_ set to:1736357601.697292
2025-01-08T17:33:21.703Z,1736357601.703 [DAT](INFO): DAT read: Range 10 to 50 :    24.5 m (trip time 16.3 ms) speed 0.0

2025-01-08T17:33:21.706Z,1736357601.706 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-01-08T17:33:21.717Z,1736357601.717 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=4.021564
2025-01-08T17:33:21.944Z,1736357601.944 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=4.249278
2025-01-08T17:33:22.061Z,1736357602.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:22.076Z,1736357602.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 0.508522 s,
      deltaX: 0.200001 m,
      approachRate: 0.393298 m/s,
      rangeRepo size: 4

2025-01-08T17:33:22.077Z,1736357602.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:22.196Z,1736357602.196 [DAT](INFO): DAT read: Rx Time:17:33:21.0015 

2025-01-08T17:33:22.197Z,1736357602.197 [DAT](INFO): Rx dataTimestamp_ set to:1736357602.196653
2025-01-08T17:33:22.198Z,1736357602.198 [DAT](INFO): DAT read: Range 10 to 50 :    24.5 m (trip time 16.3 ms) speed -0.2

2025-01-08T17:33:22.199Z,1736357602.199 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-01-08T17:33:22.200Z,1736357602.200 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=4.504822
2025-01-08T17:33:22.438Z,1736357602.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:22.448Z,1736357602.448 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=4.753370
2025-01-08T17:33:22.449Z,1736357602.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.500000 m,
      deltaT: 0.499361 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:22.449Z,1736357602.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:22.704Z,1736357602.704 [DAT](INFO): DAT read: Rx Time:17:33:21.5017 

2025-01-08T17:33:22.706Z,1736357602.706 [DAT](INFO): Rx dataTimestamp_ set to:1736357602.704559
2025-01-08T17:33:22.710Z,1736357602.710 [DAT](INFO): DAT read: Range 10 to 50 :    24.8 m (trip time 16.5 ms) speed -0.3

2025-01-08T17:33:22.713Z,1736357602.713 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-01-08T17:33:22.716Z,1736357602.716 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=5.020259
2025-01-08T17:33:22.848Z,1736357602.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:22.879Z,1736357602.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.799999 m,
      deltaT: 0.507906 s,
      deltaX: 0.299999 m,
      approachRate: 0.590659 m/s,
      rangeRepo size: 4

2025-01-08T17:33:22.880Z,1736357602.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:22.953Z,1736357602.953 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=5.257730
2025-01-08T17:33:23.206Z,1736357603.206 [DAT](INFO): DAT read: Rx Time:17:33:22.0016 

2025-01-08T17:33:23.207Z,1736357603.207 [DAT](INFO): Rx dataTimestamp_ set to:1736357603.206742
2025-01-08T17:33:23.208Z,1736357603.208 [DAT](INFO): DAT read: Range 10 to 50 :    24.6 m (trip time 16.4 ms) speed -0.2

2025-01-08T17:33:23.209Z,1736357603.209 [DAT](ERROR): #Rx 39: Read range message, but no direction.
2025-01-08T17:33:23.210Z,1736357603.210 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=5.514902
2025-01-08T17:33:23.281Z,1736357603.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:23.309Z,1736357603.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.600000 m,
      deltaT: 0.502183 s,
      deltaX: -0.199999 m,
      approachRate: -0.398259 m/s,
      rangeRepo size: 4

2025-01-08T17:33:23.310Z,1736357603.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:23.456Z,1736357603.456 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=5.761285
2025-01-08T17:33:23.634Z,1736357603.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:23.643Z,1736357603.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:23.709Z,1736357603.709 [DAT](INFO): DAT read: Rx Time:17:33:22.5019 

2025-01-08T17:33:23.710Z,1736357603.710 [DAT](INFO): Rx dataTimestamp_ set to:1736357603.709790
2025-01-08T17:33:23.712Z,1736357603.712 [DAT](INFO): DAT read: Range 10 to 50 :    24.9 m (trip time 16.6 ms) speed -0.2

2025-01-08T17:33:23.713Z,1736357603.713 [DAT](ERROR): #Rx 40: Read range message, but no direction.
2025-01-08T17:33:23.714Z,1736357603.714 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=6.019058
2025-01-08T17:33:23.960Z,1736357603.960 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=6.265476
2025-01-08T17:33:24.060Z,1736357604.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:24.072Z,1736357604.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.503048 s,
      deltaX: 0.299999 m,
      approachRate: 0.596363 m/s,
      rangeRepo size: 4

2025-01-08T17:33:24.073Z,1736357604.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:24.214Z,1736357604.214 [DAT](INFO): DAT read: Rx Time:17:33:23.0019 

2025-01-08T17:33:24.214Z,1736357604.214 [DAT](INFO): Rx dataTimestamp_ set to:1736357604.214027
2025-01-08T17:33:24.216Z,1736357604.216 [DAT](INFO): DAT read: Range 10 to 50 :    24.9 m (trip time 16.6 ms) speed -0.3

2025-01-08T17:33:24.216Z,1736357604.216 [DAT](ERROR): #Rx 41: Read range message, but no direction.
2025-01-08T17:33:24.217Z,1736357604.217 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=6.522166
2025-01-08T17:33:24.440Z,1736357604.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:24.449Z,1736357604.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.504237 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:24.450Z,1736357604.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:24.464Z,1736357604.464 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=6.769120
2025-01-08T17:33:24.717Z,1736357604.717 [DAT](INFO): DAT read: Rx Time:17:33:23.5020 

2025-01-08T17:33:24.717Z,1736357604.717 [DAT](INFO): Rx dataTimestamp_ set to:1736357604.716897
2025-01-08T17:33:24.721Z,1736357604.721 [DAT](INFO): DAT read: Range 10 to 50 :    25.1 m (trip time 16.7 ms) speed -0.2

2025-01-08T17:33:24.723Z,1736357604.723 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-01-08T17:33:24.726Z,1736357604.726 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=7.030856
2025-01-08T17:33:24.877Z,1736357604.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:24.889Z,1736357604.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.502870 s,
      deltaX: 0.200001 m,
      approachRate: 0.397719 m/s,
      rangeRepo size: 4

2025-01-08T17:33:24.889Z,1736357604.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:24.969Z,1736357604.969 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=7.274191
2025-01-08T17:33:25.222Z,1736357605.222 [DAT](INFO): DAT read: Rx Time:17:33:24.0020 

2025-01-08T17:33:25.225Z,1736357605.225 [DAT](INFO): Rx dataTimestamp_ set to:1736357605.223527
2025-01-08T17:33:25.229Z,1736357605.229 [DAT](INFO): DAT read: Range 10 to 50 :    25.1 m (trip time 16.7 ms) speed -0.2

2025-01-08T17:33:25.230Z,1736357605.230 [DAT](ERROR): #Rx 43: Read range message, but no direction.
2025-01-08T17:33:25.231Z,1736357605.231 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=7.536115
2025-01-08T17:33:25.288Z,1736357605.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:25.311Z,1736357605.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.506630 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:25.316Z,1736357605.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:25.472Z,1736357605.472 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=7.777304
2025-01-08T17:33:25.666Z,1736357605.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:25.677Z,1736357605.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:25.724Z,1736357605.724 [DAT](INFO): DAT read: Rx Time:17:33:24.5021 

2025-01-08T17:33:25.725Z,1736357605.725 [DAT](INFO): Rx dataTimestamp_ set to:1736357605.724634
2025-01-08T17:33:25.726Z,1736357605.726 [DAT](INFO): DAT read: Range 10 to 50 :    25.2 m (trip time 16.8 ms) speed 0.0

2025-01-08T17:33:25.727Z,1736357605.727 [DAT](ERROR): #Rx 44: Read range message, but no direction.
2025-01-08T17:33:25.728Z,1736357605.728 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=8.032782
2025-01-08T17:33:25.976Z,1736357605.976 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=8.281232
2025-01-08T17:33:26.104Z,1736357606.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:26.122Z,1736357606.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 0.501107 s,
      deltaX: 0.100000 m,
      approachRate: 0.199559 m/s,
      rangeRepo size: 4

2025-01-08T17:33:26.123Z,1736357606.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:26.229Z,1736357606.229 [DAT](INFO): DAT read: Rx Time:17:33:25.0021 

2025-01-08T17:33:26.230Z,1736357606.230 [DAT](INFO): Rx dataTimestamp_ set to:1736357606.229614
2025-01-08T17:33:26.232Z,1736357606.232 [DAT](INFO): DAT read: Range 10 to 50 :    25.2 m (trip time 16.8 ms) speed -0.2

2025-01-08T17:33:26.233Z,1736357606.233 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-01-08T17:33:26.233Z,1736357606.233 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=8.538383
2025-01-08T17:33:26.467Z,1736357606.467 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:26.480Z,1736357606.480 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=8.785384
2025-01-08T17:33:26.504Z,1736357606.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 0.504980 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:26.505Z,1736357606.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:26.736Z,1736357606.736 [DAT](INFO): DAT read: Rx Time:17:33:25.5023 

2025-01-08T17:33:26.736Z,1736357606.736 [DAT](INFO): Rx dataTimestamp_ set to:1736357606.736206
2025-01-08T17:33:26.738Z,1736357606.738 [DAT](INFO): DAT read: Range 10 to 50 :    25.5 m (trip time 17.0 ms) speed -0.2

2025-01-08T17:33:26.738Z,1736357606.738 [DAT](ERROR): #Rx 46: Read range message, but no direction.
2025-01-08T17:33:26.739Z,1736357606.739 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=9.044370
2025-01-08T17:33:26.899Z,1736357606.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:26.920Z,1736357606.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.506592 s,
      deltaX: 0.299999 m,
      approachRate: 0.592191 m/s,
      rangeRepo size: 4

2025-01-08T17:33:26.921Z,1736357606.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:26.989Z,1736357606.989 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=9.293184
2025-01-08T17:33:27.236Z,1736357607.236 [DAT](INFO): DAT read: Rx Time:17:33:26.0023 

2025-01-08T17:33:27.237Z,1736357607.237 [DAT](INFO): Rx dataTimestamp_ set to:1736357607.236672
2025-01-08T17:33:27.238Z,1736357607.238 [DAT](INFO): DAT read: Range 10 to 50 :    25.5 m (trip time 17.0 ms) speed -0.2

2025-01-08T17:33:27.239Z,1736357607.239 [DAT](ERROR): #Rx 47: Read range message, but no direction.
2025-01-08T17:33:27.240Z,1736357607.240 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=9.544801
2025-01-08T17:33:27.328Z,1736357607.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:27.352Z,1736357607.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.500000 m,
      deltaT: 0.500466 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:27.352Z,1736357607.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:27.492Z,1736357607.492 [DAT](INFO): DAT read: Rx Time:17:33:26.5025 

2025-01-08T17:33:27.494Z,1736357607.494 [DAT](INFO): Rx dataTimestamp_ set to:1736357607.492784
2025-01-08T17:33:27.496Z,1736357607.496 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=9.800703
2025-01-08T17:33:27.687Z,1736357607.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:27.701Z,1736357607.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 2.10 m.
2025-01-08T17:33:27.741Z,1736357607.741 [DAT](INFO): DAT read: Bearing 194.9,   2.4 (Local)

2025-01-08T17:33:27.741Z,1736357607.741 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.9,   2.4 (Local)

2025-01-08T17:33:27.744Z,1736357607.744 [DAT](INFO): DAT read: Range 10 to 50 :    25.8 m (trip time 17.2 ms) speed -0.2

2025-01-08T17:33:27.749Z,1736357607.749 [DAT](INFO): DAT read: 17:33:26.5025 LVL= 26304, 26577, 18866, 31731, AGC= 57, IDX= 513,-0.07,-1.168, 1.262,-0.322,-0.088, PHS=-0.992, 1.397,-0.237, RAW= 312.0,  -1.6, CAL= 315.1,  -2.4, ROT= 194.9,   2.4

2025-01-08T17:33:27.750Z,1736357607.750 [DAT](INFO): got valid direction response:
 17:33:26.5025 LVL= 26304, 26577, 18866, 31731, AGC= 57, IDX= 513,-0.07,-1.168, 1.262,-0.322,-0.088, PHS=-0.992, 1.397,-0.237, RAW= 312.0,  -1.6, CAL= 315.1,  -2.4, ROT= 194.9,   2.4

2025-01-08T17:33:27.751Z,1736357607.751 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-01-08T17:33:27.753Z,1736357607.753 [DAT](INFO): direction in FSK: [-0.965528,-0.256907,-0.041876]
2025-01-08T17:33:27.753Z,1736357607.753 [DAT](INFO): publishing direction and range info
2025-01-08T17:33:27.758Z,1736357607.758 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.063153
2025-01-08T17:33:27.995Z,1736357607.995 [DAT](INFO): DAT read: Rx Time:17:33:27.0025 

2025-01-08T17:33:27.997Z,1736357607.997 [DAT](INFO): Rx dataTimestamp_ set to:1736357607.996129
2025-01-08T17:33:28.000Z,1736357608.000 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=10.304556
2025-01-08T17:33:28.114Z,1736357608.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:28.130Z,1736357608.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.503162 s,
      deltaX: 0.299999 m,
      approachRate: 0.596228 m/s,
      rangeRepo size: 4

2025-01-08T17:33:28.153Z,1736357608.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.799999 m,
      bearing: 103.182146 deg,
      lat: 36.904136 deg,
      lon: -122.119117 deg,
      deltaT: 63.016099 s,
      deltaX: 23.699999 m,
      approachRate: 0.376094 m/s,
      posRepo size: 4

2025-01-08T17:33:28.153Z,1736357608.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:28.246Z,1736357608.246 [DAT](INFO): DAT read: Range 10 to 50 :    25.8 m (trip time 17.2 ms) speed -0.3

2025-01-08T17:33:28.248Z,1736357608.248 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-01-08T17:33:28.249Z,1736357608.249 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=10.553828
2025-01-08T17:33:28.500Z,1736357608.500 [DAT](INFO): DAT read: Rx Time:17:33:27.5026 

2025-01-08T17:33:28.501Z,1736357608.501 [DAT](INFO): Rx dataTimestamp_ set to:1736357608.500613
2025-01-08T17:33:28.503Z,1736357608.503 [DAT](INFO): DAT read: Range 10 to 50 :    26.0 m (trip time 17.3 ms) speed -0.2

2025-01-08T17:33:28.504Z,1736357608.504 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-01-08T17:33:28.504Z,1736357608.504 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=10.809397
2025-01-08T17:33:28.512Z,1736357608.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:28.555Z,1736357608.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 0.760779 s,
      deltaX: 0.200001 m,
      approachRate: 0.262889 m/s,
      rangeRepo size: 4

2025-01-08T17:33:28.559Z,1736357608.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:28.748Z,1736357608.748 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=11.053245
2025-01-08T17:33:28.930Z,1736357608.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:28.941Z,1736357608.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:29.002Z,1736357609.002 [DAT](INFO): DAT read: Rx Time:17:33:28.0025 

2025-01-08T17:33:29.002Z,1736357609.002 [DAT](INFO): Rx dataTimestamp_ set to:1736357609.002101
2025-01-08T17:33:29.004Z,1736357609.004 [DAT](INFO): DAT read: Range 10 to 50 :    25.8 m (trip time 17.2 ms) speed -0.2

2025-01-08T17:33:29.004Z,1736357609.004 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-01-08T17:33:29.005Z,1736357609.005 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=11.310234
2025-01-08T17:33:29.252Z,1736357609.252 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=11.557233
2025-01-08T17:33:29.350Z,1736357609.350 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:29.359Z,1736357609.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.501488 s,
      deltaX: -0.200001 m,
      approachRate: -0.398815 m/s,
      rangeRepo size: 4

2025-01-08T17:33:29.360Z,1736357609.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:29.505Z,1736357609.505 [DAT](INFO): DAT read: Rx Time:17:33:28.5028 

2025-01-08T17:33:29.505Z,1736357609.505 [DAT](INFO): Rx dataTimestamp_ set to:1736357609.504750
2025-01-08T17:33:29.506Z,1736357609.506 [DAT](INFO): DAT read: Range 10 to 50 :    26.3 m (trip time 17.5 ms) speed 0.0

2025-01-08T17:33:29.507Z,1736357609.507 [DAT](ERROR): #Rx 52: Read range message, but no direction.
2025-01-08T17:33:29.508Z,1736357609.508 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=11.812972
2025-01-08T17:33:29.744Z,1736357609.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:29.754Z,1736357609.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.502649 s,
      deltaX: 0.500000 m,
      approachRate: 0.994730 m/s,
      rangeRepo size: 4

2025-01-08T17:33:29.754Z,1736357609.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:29.756Z,1736357609.756 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=12.061347
2025-01-08T17:33:30.009Z,1736357610.009 [DAT](INFO): DAT read: Rx Time:17:33:29.0028 

2025-01-08T17:33:30.010Z,1736357610.010 [DAT](INFO): Rx dataTimestamp_ set to:1736357610.009506
2025-01-08T17:33:30.011Z,1736357610.011 [DAT](INFO): DAT read: Range 10 to 50 :    26.3 m (trip time 17.5 ms) speed -0.1

2025-01-08T17:33:30.012Z,1736357610.012 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-01-08T17:33:30.013Z,1736357610.013 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=12.317619
2025-01-08T17:33:30.189Z,1736357610.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:30.198Z,1736357610.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.504756 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:30.198Z,1736357610.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:30.260Z,1736357610.260 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=12.565418
2025-01-08T17:33:30.512Z,1736357610.512 [DAT](INFO): DAT read: Rx Time:17:33:29.5030 

2025-01-08T17:33:30.513Z,1736357610.513 [DAT](INFO): Rx dataTimestamp_ set to:1736357610.512600
2025-01-08T17:33:30.514Z,1736357610.514 [DAT](INFO): DAT read: Range 10 to 50 :    26.6 m (trip time 17.7 ms) speed -0.1

2025-01-08T17:33:30.515Z,1736357610.515 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-01-08T17:33:30.516Z,1736357610.516 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=12.820758
2025-01-08T17:33:30.573Z,1736357610.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:30.590Z,1736357610.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.503094 s,
      deltaX: 0.300001 m,
      approachRate: 0.596312 m/s,
      rangeRepo size: 4

2025-01-08T17:33:30.591Z,1736357610.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:30.765Z,1736357610.765 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=13.069617
2025-01-08T17:33:31.017Z,1736357611.017 [DAT](INFO): DAT read: Rx Time:17:33:30.0029 

2025-01-08T17:33:31.017Z,1736357611.017 [DAT](INFO): Rx dataTimestamp_ set to:1736357611.016743
2025-01-08T17:33:31.019Z,1736357611.019 [DAT](INFO): DAT read: Range 10 to 50 :    26.4 m (trip time 17.6 ms) speed -0.1

2025-01-08T17:33:31.020Z,1736357611.020 [DAT](ERROR): #Rx 55: Read range message, but no direction.
2025-01-08T17:33:31.021Z,1736357611.021 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=13.325534
2025-01-08T17:33:31.023Z,1736357611.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:31.044Z,1736357611.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.504143 s,
      deltaX: -0.200001 m,
      approachRate: -0.396714 m/s,
      rangeRepo size: 4

2025-01-08T17:33:31.045Z,1736357611.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:31.273Z,1736357611.273 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=13.577063
2025-01-08T17:33:31.402Z,1736357611.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:31.448Z,1736357611.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:31.520Z,1736357611.520 [DAT](INFO): DAT read: Rx Time:17:33:30.5030 

2025-01-08T17:33:31.521Z,1736357611.521 [DAT](INFO): Rx dataTimestamp_ set to:1736357611.520664
2025-01-08T17:33:31.522Z,1736357611.522 [DAT](INFO): DAT read: Range 10 to 50 :    26.6 m (trip time 17.7 ms) speed -0.1

2025-01-08T17:33:31.523Z,1736357611.523 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-01-08T17:33:31.524Z,1736357611.524 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=13.828804
2025-01-08T17:33:31.772Z,1736357611.772 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=14.077283
2025-01-08T17:33:31.913Z,1736357611.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:31.937Z,1736357611.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.503921 s,
      deltaX: 0.200001 m,
      approachRate: 0.396889 m/s,
      rangeRepo size: 4

2025-01-08T17:33:31.938Z,1736357611.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:32.025Z,1736357612.025 [DAT](INFO): DAT read: Rx Time:17:33:31.0030 

2025-01-08T17:33:32.025Z,1736357612.025 [DAT](INFO): Rx dataTimestamp_ set to:1736357612.024810
2025-01-08T17:33:32.026Z,1736357612.026 [DAT](INFO): DAT read: Range 10 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-01-08T17:33:32.027Z,1736357612.027 [DAT](ERROR): #Rx 57: Read range message, but no direction.
2025-01-08T17:33:32.028Z,1736357612.028 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=14.332904
2025-01-08T17:33:32.276Z,1736357612.276 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=14.581186
2025-01-08T17:33:32.365Z,1736357612.365 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for beam range. Device response is::RA, 68,-32768,V
2025-01-08T17:33:32.372Z,1736357612.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-08T17:33:32.373Z,1736357612.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:32.382Z,1736357612.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.504146 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:32.382Z,1736357612.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:32.528Z,1736357612.528 [DAT](INFO): DAT read: Rx Time:17:33:31.5030 

2025-01-08T17:33:32.529Z,1736357612.529 [DAT](INFO): Rx dataTimestamp_ set to:1736357612.528665
2025-01-08T17:33:32.530Z,1736357612.530 [DAT](INFO): DAT read: Range 10 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-01-08T17:33:32.531Z,1736357612.531 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-01-08T17:33:32.532Z,1736357612.532 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=14.837403
2025-01-08T17:33:32.780Z,1736357612.780 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=15.085204
2025-01-08T17:33:32.809Z,1736357612.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-08T17:33:32.809Z,1736357612.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:32.821Z,1736357612.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.503855 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:32.822Z,1736357612.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:33.033Z,1736357613.033 [DAT](INFO): DAT read: Rx Time:17:33:32.0029 

2025-01-08T17:33:33.033Z,1736357613.033 [DAT](INFO): Rx dataTimestamp_ set to:1736357613.032705
2025-01-08T17:33:33.035Z,1736357613.035 [DAT](INFO): DAT read: Range 10 to 50 :    26.4 m (trip time 17.6 ms) speed 0.0

2025-01-08T17:33:33.036Z,1736357613.036 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-01-08T17:33:33.037Z,1736357613.037 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=15.341493
2025-01-08T17:33:33.216Z,1736357613.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:33.226Z,1736357613.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.504040 s,
      deltaX: -0.200001 m,
      approachRate: -0.396795 m/s,
      rangeRepo size: 4

2025-01-08T17:33:33.227Z,1736357613.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:33.286Z,1736357613.286 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=15.590664
2025-01-08T17:33:33.536Z,1736357613.536 [DAT](INFO): DAT read: Rx Time:17:33:32.5030 

2025-01-08T17:33:33.537Z,1736357613.537 [DAT](INFO): Rx dataTimestamp_ set to:1736357613.536672
2025-01-08T17:33:33.538Z,1736357613.538 [DAT](INFO): DAT read: Range 10 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-01-08T17:33:33.539Z,1736357613.539 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-01-08T17:33:33.540Z,1736357613.540 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=15.844783
2025-01-08T17:33:33.634Z,1736357613.634 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:33.644Z,1736357613.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.503967 s,
      deltaX: 0.200001 m,
      approachRate: 0.396853 m/s,
      rangeRepo size: 4

2025-01-08T17:33:33.645Z,1736357613.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:33.789Z,1736357613.789 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=16.093571
2025-01-08T17:33:34.036Z,1736357614.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:34.041Z,1736357614.041 [DAT](INFO): DAT read: Rx Time:17:33:33.0030 

2025-01-08T17:33:34.041Z,1736357614.041 [DAT](INFO): Rx dataTimestamp_ set to:1736357614.040759
2025-01-08T17:33:34.042Z,1736357614.042 [DAT](INFO): DAT read: Range 10 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-01-08T17:33:34.043Z,1736357614.043 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-01-08T17:33:34.044Z,1736357614.044 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=16.348869
2025-01-08T17:33:34.052Z,1736357614.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.504087 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:34.052Z,1736357614.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:34.292Z,1736357614.292 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=16.597183
2025-01-08T17:33:34.414Z,1736357614.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:34.423Z,1736357614.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:34.546Z,1736357614.546 [DAT](INFO): DAT read: Rx Time:17:33:33.5031 

2025-01-08T17:33:34.546Z,1736357614.546 [DAT](INFO): Rx dataTimestamp_ set to:1736357614.545812
2025-01-08T17:33:34.547Z,1736357614.547 [DAT](INFO): DAT read: Range 10 to 50 :    26.7 m (trip time 17.8 ms) speed 0.0

2025-01-08T17:33:34.548Z,1736357614.548 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-01-08T17:33:34.549Z,1736357614.549 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=16.853933
2025-01-08T17:33:34.796Z,1736357614.796 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=17.101385
2025-01-08T17:33:34.826Z,1736357614.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:34.840Z,1736357614.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.505053 s,
      deltaX: 0.100000 m,
      approachRate: 0.198000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:34.840Z,1736357614.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:35.048Z,1736357615.048 [DAT](INFO): DAT read: Rx Time:17:33:34.0030 

2025-01-08T17:33:35.049Z,1736357615.049 [DAT](INFO): Rx dataTimestamp_ set to:1736357615.048543
2025-01-08T17:33:35.050Z,1736357615.050 [DAT](INFO): DAT read: Range 10 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-01-08T17:33:35.051Z,1736357615.051 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-01-08T17:33:35.052Z,1736357615.052 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=17.357363
2025-01-08T17:33:35.230Z,1736357615.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:35.260Z,1736357615.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.502731 s,
      deltaX: -0.100000 m,
      approachRate: -0.198914 m/s,
      rangeRepo size: 4

2025-01-08T17:33:35.261Z,1736357615.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:35.301Z,1736357615.301 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=17.605936
2025-01-08T17:33:35.553Z,1736357615.553 [DAT](INFO): DAT read: Rx Time:17:33:34.5032 

2025-01-08T17:33:35.553Z,1736357615.553 [DAT](INFO): Rx dataTimestamp_ set to:1736357615.552991
2025-01-08T17:33:35.554Z,1736357615.554 [DAT](INFO): DAT read: Range 10 to 50 :    26.9 m (trip time 17.9 ms) speed 0.1

2025-01-08T17:33:35.555Z,1736357615.555 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-01-08T17:33:35.556Z,1736357615.556 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=17.861095
2025-01-08T17:33:35.649Z,1736357615.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:35.667Z,1736357615.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.504448 s,
      deltaX: 0.299999 m,
      approachRate: 0.594708 m/s,
      rangeRepo size: 4

2025-01-08T17:33:35.672Z,1736357615.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:35.805Z,1736357615.805 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=18.109537
2025-01-08T17:33:36.057Z,1736357616.057 [DAT](INFO): DAT read: Rx Time:17:33:35.0031 

2025-01-08T17:33:36.057Z,1736357616.057 [DAT](INFO): Rx dataTimestamp_ set to:1736357616.056929
2025-01-08T17:33:36.058Z,1736357616.058 [DAT](INFO): DAT read: Range 10 to 50 :    26.7 m (trip time 17.8 ms) speed 0.0

2025-01-08T17:33:36.059Z,1736357616.059 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-01-08T17:33:36.060Z,1736357616.060 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=18.365311
2025-01-08T17:33:36.069Z,1736357616.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:36.079Z,1736357616.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.503938 s,
      deltaX: -0.199999 m,
      approachRate: -0.396872 m/s,
      rangeRepo size: 4

2025-01-08T17:33:36.080Z,1736357616.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:36.308Z,1736357616.308 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=18.613247
2025-01-08T17:33:36.446Z,1736357616.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:36.466Z,1736357616.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:36.560Z,1736357616.560 [DAT](INFO): DAT read: Rx Time:17:33:35.5031 

2025-01-08T17:33:36.561Z,1736357616.561 [DAT](INFO): Rx dataTimestamp_ set to:1736357616.560668
2025-01-08T17:33:36.562Z,1736357616.562 [DAT](INFO): DAT read: Range 10 to 50 :    26.7 m (trip time 17.8 ms) speed 0.0

2025-01-08T17:33:36.563Z,1736357616.563 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-01-08T17:33:36.564Z,1736357616.564 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=18.868757
2025-01-08T17:33:36.812Z,1736357616.812 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=19.117245
2025-01-08T17:33:36.939Z,1736357616.939 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:36.986Z,1736357616.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 0.503739 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:36.992Z,1736357616.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:37.069Z,1736357617.069 [DAT](INFO): DAT read: Rx Time:17:33:36.0030 

2025-01-08T17:33:37.070Z,1736357617.070 [DAT](INFO): Rx dataTimestamp_ set to:1736357617.069361
2025-01-08T17:33:37.073Z,1736357617.073 [DAT](INFO): DAT read: Range 10 to 50 :    26.6 m (trip time 17.7 ms) speed 0.0

2025-01-08T17:33:37.074Z,1736357617.074 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-01-08T17:33:37.076Z,1736357617.076 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=19.381304
2025-01-08T17:33:37.316Z,1736357617.316 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=19.621216
2025-01-08T17:33:37.338Z,1736357617.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:37.350Z,1736357617.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.508693 s,
      deltaX: -0.100000 m,
      approachRate: -0.196583 m/s,
      rangeRepo size: 4

2025-01-08T17:33:37.352Z,1736357617.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:37.571Z,1736357617.571 [DAT](INFO): DAT read: Rx Time:17:33:36.5032 

2025-01-08T17:33:37.572Z,1736357617.572 [DAT](INFO): Rx dataTimestamp_ set to:1736357617.571377
2025-01-08T17:33:37.574Z,1736357617.574 [DAT](INFO): DAT read: Range 10 to 50 :    26.9 m (trip time 17.9 ms) speed -0.2

2025-01-08T17:33:37.575Z,1736357617.575 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-01-08T17:33:37.576Z,1736357617.576 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=19.881285
2025-01-08T17:33:37.750Z,1736357617.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:37.760Z,1736357617.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.502016 s,
      deltaX: 0.299999 m,
      approachRate: 0.597589 m/s,
      rangeRepo size: 4

2025-01-08T17:33:37.760Z,1736357617.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:37.820Z,1736357617.820 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=20.125414
2025-01-08T17:33:38.072Z,1736357618.072 [DAT](INFO): DAT read: Rx Time:17:33:37.0032 

2025-01-08T17:33:38.073Z,1736357618.073 [DAT](INFO): Rx dataTimestamp_ set to:1736357618.072650
2025-01-08T17:33:38.074Z,1736357618.074 [DAT](INFO): DAT read: Range 10 to 50 :    26.9 m (trip time 17.9 ms) speed -0.1

2025-01-08T17:33:38.075Z,1736357618.075 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-01-08T17:33:38.076Z,1736357618.076 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=20.381405
2025-01-08T17:33:38.227Z,1736357618.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:38.234Z,1736357618.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:33:38.238Z,1736357618.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.501273 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:38.238Z,1736357618.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:38.326Z,1736357618.326 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=20.630550
2025-01-08T17:33:38.572Z,1736357618.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:38.577Z,1736357618.577 [DAT](INFO): DAT read: Rx Time:17:33:37.5033 

2025-01-08T17:33:38.578Z,1736357618.578 [DAT](INFO): Rx dataTimestamp_ set to:1736357618.577137
2025-01-08T17:33:38.581Z,1736357618.581 [DAT](INFO): DAT read: Range 10 to 50 :    27.0 m (trip time 18.0 ms) speed -0.1

2025-01-08T17:33:38.582Z,1736357618.582 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-01-08T17:33:38.596Z,1736357618.596 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=20.900597
2025-01-08T17:33:38.608Z,1736357618.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.504487 s,
      deltaX: 0.100000 m,
      approachRate: 0.198222 m/s,
      rangeRepo size: 4

2025-01-08T17:33:38.608Z,1736357618.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:38.828Z,1736357618.828 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=21.133327
2025-01-08T17:33:39.053Z,1736357619.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:39.062Z,1736357619.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:39.106Z,1736357619.106 [DAT](INFO): DAT read: Rx Time:17:33:38.0033 

2025-01-08T17:33:39.106Z,1736357619.106 [DAT](INFO): Rx dataTimestamp_ set to:1736357619.105711
2025-01-08T17:33:39.108Z,1736357619.108 [DAT](INFO): DAT read: Range 10 to 50 :    27.0 m (trip time 18.0 ms) speed -0.2

2025-01-08T17:33:39.108Z,1736357619.108 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-01-08T17:33:39.109Z,1736357619.109 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=21.414112
2025-01-08T17:33:39.356Z,1736357619.356 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=21.661320
2025-01-08T17:33:39.441Z,1736357619.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:39.466Z,1736357619.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 0.528574 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:39.466Z,1736357619.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:39.610Z,1736357619.610 [DAT](INFO): DAT read: Rx Time:17:33:38.5035 

2025-01-08T17:33:39.611Z,1736357619.611 [DAT](INFO): Rx dataTimestamp_ set to:1736357619.610440
2025-01-08T17:33:39.612Z,1736357619.612 [DAT](INFO): DAT read: Range 10 to 50 :    27.3 m (trip time 18.2 ms) speed -0.2

2025-01-08T17:33:39.613Z,1736357619.613 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-01-08T17:33:39.614Z,1736357619.614 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=21.918602
2025-01-08T17:33:39.861Z,1736357619.861 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=22.165487
2025-01-08T17:33:39.912Z,1736357619.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:39.924Z,1736357619.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 0.504729 s,
      deltaX: 0.299999 m,
      approachRate: 0.594377 m/s,
      rangeRepo size: 4

2025-01-08T17:33:39.924Z,1736357619.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:40.113Z,1736357620.113 [DAT](INFO): DAT read: Rx Time:17:33:39.0034 

2025-01-08T17:33:40.113Z,1736357620.113 [DAT](INFO): Rx dataTimestamp_ set to:1736357620.112746
2025-01-08T17:33:40.114Z,1736357620.114 [DAT](INFO): DAT read: Range 10 to 50 :    27.2 m (trip time 18.1 ms) speed -0.2

2025-01-08T17:33:40.115Z,1736357620.115 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-01-08T17:33:40.116Z,1736357620.116 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=22.421473
2025-01-08T17:33:40.325Z,1736357620.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:40.335Z,1736357620.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.200001 m,
      deltaT: 0.502306 s,
      deltaX: -0.099998 m,
      approachRate: -0.199079 m/s,
      rangeRepo size: 4

2025-01-08T17:33:40.336Z,1736357620.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:40.366Z,1736357620.366 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=22.670422
2025-01-08T17:33:40.623Z,1736357620.623 [DAT](INFO): DAT read: Rx Time:17:33:39.5035 

2025-01-08T17:33:40.624Z,1736357620.624 [DAT](INFO): Rx dataTimestamp_ set to:1736357620.623863
2025-01-08T17:33:40.626Z,1736357620.626 [DAT](INFO): DAT read: Range 10 to 50 :    27.3 m (trip time 18.2 ms) speed -0.2

2025-01-08T17:33:40.627Z,1736357620.627 [DAT](ERROR): #Rx 74: Read range message, but no direction.
2025-01-08T17:33:40.628Z,1736357620.628 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=22.932981
2025-01-08T17:33:40.723Z,1736357620.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:40.749Z,1736357620.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 0.511117 s,
      deltaX: 0.099998 m,
      approachRate: 0.195647 m/s,
      rangeRepo size: 4

2025-01-08T17:33:40.749Z,1736357620.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:40.870Z,1736357620.870 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=23.174669
2025-01-08T17:33:41.123Z,1736357621.123 [DAT](INFO): DAT read: Rx Time:17:33:40.0035 

2025-01-08T17:33:41.124Z,1736357621.124 [DAT](INFO): Rx dataTimestamp_ set to:1736357621.123676
2025-01-08T17:33:41.125Z,1736357621.125 [DAT](INFO): DAT read: Range 10 to 50 :    27.3 m (trip time 18.2 ms) speed -0.3

2025-01-08T17:33:41.126Z,1736357621.126 [DAT](ERROR): #Rx 75: Read range message, but no direction.
2025-01-08T17:33:41.127Z,1736357621.127 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=23.431669
2025-01-08T17:33:41.224Z,1736357621.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:41.233Z,1736357621.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 0.499813 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:41.233Z,1736357621.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:41.374Z,1736357621.374 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=23.678713
2025-01-08T17:33:41.583Z,1736357621.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:41.613Z,1736357621.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:41.625Z,1736357621.625 [DAT](INFO): DAT read: Rx Time:17:33:40.5037 

2025-01-08T17:33:41.625Z,1736357621.625 [DAT](INFO): Rx dataTimestamp_ set to:1736357621.624767
2025-01-08T17:33:41.626Z,1736357621.626 [DAT](INFO): DAT read: Range 10 to 50 :    27.6 m (trip time 18.4 ms) speed -0.2

2025-01-08T17:33:41.627Z,1736357621.627 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-01-08T17:33:41.629Z,1736357621.629 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=23.933365
2025-01-08T17:33:41.876Z,1736357621.876 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=24.181175
2025-01-08T17:33:42.006Z,1736357622.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:42.067Z,1736357622.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.600000 m,
      deltaT: 0.501091 s,
      deltaX: 0.300001 m,
      approachRate: 0.598696 m/s,
      rangeRepo size: 4

2025-01-08T17:33:42.068Z,1736357622.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:42.130Z,1736357622.130 [DAT](INFO): DAT read: Rx Time:17:33:41.0037 

2025-01-08T17:33:42.130Z,1736357622.130 [DAT](INFO): Rx dataTimestamp_ set to:1736357622.129788
2025-01-08T17:33:42.131Z,1736357622.131 [DAT](INFO): DAT read: Range 10 to 50 :    27.6 m (trip time 18.4 ms) speed -0.2

2025-01-08T17:33:42.132Z,1736357622.132 [DAT](ERROR): #Rx 77: Read range message, but no direction.
2025-01-08T17:33:42.133Z,1736357622.133 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=24.437927
2025-01-08T17:33:42.381Z,1736357622.381 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=24.685703
2025-01-08T17:33:42.410Z,1736357622.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:42.447Z,1736357622.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.600000 m,
      deltaT: 0.505021 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:42.447Z,1736357622.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:42.633Z,1736357622.633 [DAT](INFO): DAT read: Rx Time:17:33:41.5039 

2025-01-08T17:33:42.634Z,1736357622.634 [DAT](INFO): Rx dataTimestamp_ set to:1736357622.633569
2025-01-08T17:33:42.636Z,1736357622.636 [DAT](INFO): DAT read: Range 10 to 50 :    27.9 m (trip time 18.6 ms) speed -0.2

2025-01-08T17:33:42.637Z,1736357622.637 [DAT](ERROR): #Rx 78: Read range message, but no direction.
2025-01-08T17:33:42.638Z,1736357622.638 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=24.943180
2025-01-08T17:33:42.816Z,1736357622.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:42.826Z,1736357622.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.900000 m,
      deltaT: 0.503781 s,
      deltaX: 0.299999 m,
      approachRate: 0.595495 m/s,
      rangeRepo size: 4

2025-01-08T17:33:42.826Z,1736357622.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:42.885Z,1736357622.885 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=25.190216
2025-01-08T17:33:43.136Z,1736357623.136 [DAT](INFO): DAT read: Rx Time:17:33:42.0038 

2025-01-08T17:33:43.137Z,1736357623.137 [DAT](INFO): Rx dataTimestamp_ set to:1736357623.136670
2025-01-08T17:33:43.138Z,1736357623.138 [DAT](INFO): DAT read: Range 10 to 50 :    27.8 m (trip time 18.5 ms) speed 0.0

2025-01-08T17:33:43.139Z,1736357623.139 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-01-08T17:33:43.140Z,1736357623.140 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=25.444820
2025-01-08T17:33:43.256Z,1736357623.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:43.265Z,1736357623.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.799999 m,
      deltaT: 0.503101 s,
      deltaX: -0.100000 m,
      approachRate: -0.198768 m/s,
      rangeRepo size: 4

2025-01-08T17:33:43.266Z,1736357623.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:43.389Z,1736357623.389 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=25.693790
2025-01-08T17:33:43.641Z,1736357623.641 [DAT](INFO): DAT read: Rx Time:17:33:42.5040 

2025-01-08T17:33:43.641Z,1736357623.641 [DAT](INFO): Rx dataTimestamp_ set to:1736357623.641171
2025-01-08T17:33:43.643Z,1736357623.643 [DAT](INFO): DAT read: Range 10 to 50 :    28.1 m (trip time 18.7 ms) speed -0.2

2025-01-08T17:33:43.643Z,1736357623.643 [DAT](ERROR): #Rx 80: Read range message, but no direction.
2025-01-08T17:33:43.644Z,1736357623.644 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=25.949303
2025-01-08T17:33:43.723Z,1736357623.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:43.744Z,1736357623.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.100000 m,
      deltaT: 0.504501 s,
      deltaX: 0.300001 m,
      approachRate: 0.594649 m/s,
      rangeRepo size: 4

2025-01-08T17:33:43.745Z,1736357623.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:43.892Z,1736357623.892 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=26.197233
2025-01-08T17:33:44.145Z,1736357624.145 [DAT](INFO): DAT read: Rx Time:17:33:43.0040 

2025-01-08T17:33:44.145Z,1736357624.145 [DAT](INFO): Rx dataTimestamp_ set to:1736357624.144711
2025-01-08T17:33:44.146Z,1736357624.146 [DAT](INFO): DAT read: Range 10 to 50 :    28.1 m (trip time 18.7 ms) speed 0.0

2025-01-08T17:33:44.147Z,1736357624.147 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-01-08T17:33:44.149Z,1736357624.149 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=26.453648
2025-01-08T17:33:44.236Z,1736357624.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:44.245Z,1736357624.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.100000 m,
      deltaT: 0.503540 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:44.246Z,1736357624.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:44.396Z,1736357624.396 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=26.701197
2025-01-08T17:33:44.639Z,1736357624.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:44.650Z,1736357624.650 [DAT](INFO): DAT read: Rx Time:17:33:43.5041 

2025-01-08T17:33:44.650Z,1736357624.650 [DAT](INFO): Rx dataTimestamp_ set to:1736357624.649923
2025-01-08T17:33:44.653Z,1736357624.653 [DAT](INFO): DAT read: Range 10 to 50 :    28.2 m (trip time 18.8 ms) speed 0.0

2025-01-08T17:33:44.653Z,1736357624.653 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-01-08T17:33:44.654Z,1736357624.654 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=26.959110
2025-01-08T17:33:44.691Z,1736357624.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.200001 m,
      deltaT: 0.505212 s,
      deltaX: 0.100000 m,
      approachRate: 0.197937 m/s,
      rangeRepo size: 4

2025-01-08T17:33:44.696Z,1736357624.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:44.901Z,1736357624.901 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=27.205666
2025-01-08T17:33:45.146Z,1736357625.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:45.153Z,1736357625.153 [DAT](INFO): DAT read: Rx Time:17:33:44.0041 

2025-01-08T17:33:45.153Z,1736357625.153 [DAT](INFO): Rx dataTimestamp_ set to:1736357625.152885
2025-01-08T17:33:45.154Z,1736357625.154 [DAT](INFO): DAT read: Range 10 to 50 :    28.2 m (trip time 18.8 ms) speed -0.1

2025-01-08T17:33:45.155Z,1736357625.155 [DAT](ERROR): #Rx 83: Read range message, but no direction.
2025-01-08T17:33:45.156Z,1736357625.156 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=27.461010
2025-01-08T17:33:45.163Z,1736357625.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.200001 m,
      deltaT: 0.502962 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:45.163Z,1736357625.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:45.404Z,1736357625.404 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=27.709309
2025-01-08T17:33:45.556Z,1736357625.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:45.573Z,1736357625.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:45.656Z,1736357625.656 [DAT](INFO): DAT read: Rx Time:17:33:44.5041 

2025-01-08T17:33:45.657Z,1736357625.657 [DAT](INFO): Rx dataTimestamp_ set to:1736357625.656611
2025-01-08T17:33:45.658Z,1736357625.658 [DAT](INFO): DAT read: Range 10 to 50 :    28.4 m (trip time 18.9 ms) speed 0.0

2025-01-08T17:33:45.659Z,1736357625.659 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-01-08T17:33:45.660Z,1736357625.660 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=27.964767
2025-01-08T17:33:45.908Z,1736357625.908 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=28.213181
2025-01-08T17:33:45.982Z,1736357625.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:46.016Z,1736357626.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.400000 m,
      deltaT: 0.503726 s,
      deltaX: 0.199999 m,
      approachRate: 0.397039 m/s,
      rangeRepo size: 4

2025-01-08T17:33:46.017Z,1736357626.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:46.161Z,1736357626.161 [DAT](INFO): DAT read: Rx Time:17:33:45.0041 

2025-01-08T17:33:46.161Z,1736357626.161 [DAT](INFO): Rx dataTimestamp_ set to:1736357626.160824
2025-01-08T17:33:46.162Z,1736357626.162 [DAT](INFO): DAT read: Range 10 to 50 :    28.4 m (trip time 18.9 ms) speed 0.0

2025-01-08T17:33:46.163Z,1736357626.163 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-01-08T17:33:46.164Z,1736357626.164 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=28.469034
2025-01-08T17:33:46.412Z,1736357626.412 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=28.717171
2025-01-08T17:33:46.525Z,1736357626.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:46.541Z,1736357626.541 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-08T17:33:46.547Z,1736357626.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.400000 m,
      deltaT: 0.504213 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:46.548Z,1736357626.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:46.664Z,1736357626.664 [DAT](INFO): DAT read: Rx Time:17:33:45.5042 

2025-01-08T17:33:46.665Z,1736357626.665 [DAT](INFO): Rx dataTimestamp_ set to:1736357626.664593
2025-01-08T17:33:46.666Z,1736357626.666 [DAT](INFO): DAT read: Range 10 to 50 :    28.5 m (trip time 19.0 ms) speed 0.1

2025-01-08T17:33:46.667Z,1736357626.667 [DAT](ERROR): #Rx 86: Read range message, but no direction.
2025-01-08T17:33:46.668Z,1736357626.668 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=28.972702
2025-01-08T17:33:46.919Z,1736357626.919 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=29.223877
2025-01-08T17:33:46.953Z,1736357626.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:46.962Z,1736357626.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.500000 m,
      deltaT: 0.503769 s,
      deltaX: 0.100000 m,
      approachRate: 0.198504 m/s,
      rangeRepo size: 4

2025-01-08T17:33:46.963Z,1736357626.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:47.169Z,1736357627.169 [DAT](INFO): DAT read: Rx Time:17:33:46.0041 

2025-01-08T17:33:47.170Z,1736357627.170 [DAT](INFO): Rx dataTimestamp_ set to:1736357627.169511
2025-01-08T17:33:47.171Z,1736357627.171 [DAT](INFO): DAT read: Range 10 to 50 :    28.4 m (trip time 18.9 ms) speed 0.0

2025-01-08T17:33:47.172Z,1736357627.172 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-01-08T17:33:47.173Z,1736357627.173 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=29.477634
2025-01-08T17:33:47.185Z,1736357627.185 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:33:47.350Z,1736357627.350 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +000
2025-01-08T17:33:47.358Z,1736357627.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:33:47.358Z,1736357627.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:47.368Z,1736357627.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.400000 m,
      deltaT: 0.504918 s,
      deltaX: -0.100000 m,
      approachRate: -0.198053 m/s,
      rangeRepo size: 4

2025-01-08T17:33:47.369Z,1736357627.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:47.421Z,1736357627.421 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=29.725945
2025-01-08T17:33:47.675Z,1736357627.675 [DAT](INFO): DAT read: Rx Time:17:33:46.5041 

2025-01-08T17:33:47.676Z,1736357627.676 [DAT](INFO): Rx dataTimestamp_ set to:1736357627.675048
2025-01-08T17:33:47.677Z,1736357627.677 [DAT](INFO): DAT read: Range 10 to 50 :    28.4 m (trip time 18.9 ms) speed 0.4

2025-01-08T17:33:47.678Z,1736357627.678 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-01-08T17:33:47.680Z,1736357627.680 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=29.984503
2025-01-08T17:33:47.784Z,1736357627.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:33:47.785Z,1736357627.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:47.798Z,1736357627.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.400000 m,
      deltaT: 0.505537 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:47.799Z,1736357627.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:47.924Z,1736357627.924 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=30.229343
2025-01-08T17:33:48.177Z,1736357628.177 [DAT](INFO): DAT read: Rx Time:17:33:47.0041 

2025-01-08T17:33:48.177Z,1736357628.177 [DAT](INFO): Rx dataTimestamp_ set to:1736357628.176698
2025-01-08T17:33:48.178Z,1736357628.178 [DAT](INFO): DAT read: Range 10 to 50 :    28.2 m (trip time 18.8 ms) speed 0.0

2025-01-08T17:33:48.179Z,1736357628.179 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-01-08T17:33:48.180Z,1736357628.180 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:33:48.181Z,1736357628.181 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=30.486038
2025-01-08T17:33:48.214Z,1736357628.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:48.265Z,1736357628.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.200001 m,
      deltaT: 0.501650 s,
      deltaX: -0.199999 m,
      approachRate: -0.398682 m/s,
      rangeRepo size: 4

2025-01-08T17:33:48.265Z,1736357628.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:48.429Z,1736357628.429 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=30.733534
2025-01-08T17:33:48.590Z,1736357628.590 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:48.598Z,1736357628.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:48.681Z,1736357628.681 [DAT](INFO): DAT read: Rx Time:17:33:47.5041 

2025-01-08T17:33:48.682Z,1736357628.682 [DAT](INFO): Rx dataTimestamp_ set to:1736357628.681387
2025-01-08T17:33:48.685Z,1736357628.685 [DAT](INFO): DAT read: Range 10 to 50 :    28.4 m (trip time 18.9 ms) speed 0.0

2025-01-08T17:33:48.686Z,1736357628.686 [DAT](ERROR): #Rx 90: Read range message, but no direction.
2025-01-08T17:33:48.691Z,1736357628.691 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=30.995634
2025-01-08T17:33:48.933Z,1736357628.933 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=31.237499
2025-01-08T17:33:49.013Z,1736357629.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:49.052Z,1736357629.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.400000 m,
      deltaT: 0.504689 s,
      deltaX: 0.199999 m,
      approachRate: 0.396281 m/s,
      rangeRepo size: 4

2025-01-08T17:33:49.052Z,1736357629.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:49.185Z,1736357629.185 [DAT](INFO): DAT read: Rx Time:17:33:48.0041 

2025-01-08T17:33:49.186Z,1736357629.186 [DAT](INFO): Rx dataTimestamp_ set to:1736357629.185358
2025-01-08T17:33:49.187Z,1736357629.187 [DAT](INFO): DAT read: Range 10 to 50 :    28.2 m (trip time 18.8 ms) speed 0.0

2025-01-08T17:33:49.188Z,1736357629.188 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-01-08T17:33:49.189Z,1736357629.189 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=31.493505
2025-01-08T17:33:49.440Z,1736357629.440 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=31.745050
2025-01-08T17:33:49.548Z,1736357629.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:49.559Z,1736357629.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.200001 m,
      deltaT: 0.503971 s,
      deltaX: -0.199999 m,
      approachRate: -0.396846 m/s,
      rangeRepo size: 4

2025-01-08T17:33:49.560Z,1736357629.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:49.689Z,1736357629.689 [DAT](INFO): DAT read: Rx Time:17:33:48.5041 

2025-01-08T17:33:49.690Z,1736357629.690 [DAT](INFO): Rx dataTimestamp_ set to:1736357629.689635
2025-01-08T17:33:49.692Z,1736357629.692 [DAT](INFO): DAT read: Range 10 to 50 :    28.4 m (trip time 18.9 ms) speed 0.0

2025-01-08T17:33:49.693Z,1736357629.693 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-01-08T17:33:49.697Z,1736357629.697 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=32.000957
2025-01-08T17:33:49.940Z,1736357629.940 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=32.245403
2025-01-08T17:33:49.975Z,1736357629.975 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:49.988Z,1736357629.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.400000 m,
      deltaT: 0.504277 s,
      deltaX: 0.199999 m,
      approachRate: 0.396605 m/s,
      rangeRepo size: 4

2025-01-08T17:33:49.990Z,1736357629.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:50.192Z,1736357630.192 [DAT](INFO): DAT read: Rx Time:17:33:49.0041 

2025-01-08T17:33:50.193Z,1736357630.193 [DAT](INFO): Rx dataTimestamp_ set to:1736357630.192569
2025-01-08T17:33:50.194Z,1736357630.194 [DAT](INFO): DAT read: Range 10 to 50 :    28.2 m (trip time 18.8 ms) speed 0.0

2025-01-08T17:33:50.195Z,1736357630.195 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-01-08T17:33:50.196Z,1736357630.196 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=32.501087
2025-01-08T17:33:50.438Z,1736357630.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:50.444Z,1736357630.444 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=32.749325
2025-01-08T17:33:50.462Z,1736357630.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.200001 m,
      deltaT: 0.502934 s,
      deltaX: -0.199999 m,
      approachRate: -0.397664 m/s,
      rangeRepo size: 4

2025-01-08T17:33:50.463Z,1736357630.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:50.698Z,1736357630.698 [DAT](INFO): DAT read: Rx Time:17:33:49.5041 

2025-01-08T17:33:50.698Z,1736357630.698 [DAT](INFO): Rx dataTimestamp_ set to:1736357630.697870
2025-01-08T17:33:50.700Z,1736357630.700 [DAT](INFO): DAT read: Range 10 to 50 :    28.4 m (trip time 18.9 ms) speed 0.0

2025-01-08T17:33:50.701Z,1736357630.701 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-01-08T17:33:50.702Z,1736357630.702 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=33.007324
2025-01-08T17:33:50.886Z,1736357630.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:50.911Z,1736357630.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.400000 m,
      deltaT: 0.505301 s,
      deltaX: 0.199999 m,
      approachRate: 0.395801 m/s,
      rangeRepo size: 4

2025-01-08T17:33:50.912Z,1736357630.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:50.948Z,1736357630.948 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=33.253368
2025-01-08T17:33:51.201Z,1736357631.201 [DAT](INFO): DAT read: Rx Time:17:33:50.0041 

2025-01-08T17:33:51.202Z,1736357631.202 [DAT](INFO): Rx dataTimestamp_ set to:1736357631.201265
2025-01-08T17:33:51.203Z,1736357631.203 [DAT](INFO): DAT read: Range 10 to 50 :    28.2 m (trip time 18.8 ms) speed 0.1

2025-01-08T17:33:51.204Z,1736357631.204 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-01-08T17:33:51.204Z,1736357631.204 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=33.509377
2025-01-08T17:33:51.344Z,1736357631.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:51.354Z,1736357631.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.200001 m,
      deltaT: 0.503395 s,
      deltaX: -0.199999 m,
      approachRate: -0.397300 m/s,
      rangeRepo size: 4

2025-01-08T17:33:51.355Z,1736357631.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:51.453Z,1736357631.453 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=33.757614
2025-01-08T17:33:51.706Z,1736357631.706 [DAT](INFO): DAT read: Rx Time:17:33:50.5041 

2025-01-08T17:33:51.707Z,1736357631.707 [DAT](INFO): Rx dataTimestamp_ set to:1736357631.706433
2025-01-08T17:33:51.708Z,1736357631.708 [DAT](INFO): DAT read: Range 10 to 50 :    28.2 m (trip time 18.8 ms) speed 0.0

2025-01-08T17:33:51.709Z,1736357631.709 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-01-08T17:33:51.710Z,1736357631.710 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=34.015289
2025-01-08T17:33:51.813Z,1736357631.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:51.824Z,1736357631.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.200001 m,
      deltaT: 0.505168 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:51.825Z,1736357631.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:51.956Z,1736357631.956 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=34.261257
2025-01-08T17:33:52.210Z,1736357632.210 [DAT](INFO): DAT read: Rx Time:17:33:51.0041 

2025-01-08T17:33:52.211Z,1736357632.211 [DAT](INFO): Rx dataTimestamp_ set to:1736357632.210647
2025-01-08T17:33:52.212Z,1736357632.212 [DAT](INFO): DAT read: Range 10 to 50 :    28.2 m (trip time 18.8 ms) speed 0.0

2025-01-08T17:33:52.213Z,1736357632.213 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-01-08T17:33:52.214Z,1736357632.214 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=34.518787
2025-01-08T17:33:52.250Z,1736357632.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:52.285Z,1736357632.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.200001 m,
      deltaT: 0.504214 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:52.286Z,1736357632.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:52.464Z,1736357632.464 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=34.767925
2025-01-08T17:33:52.609Z,1736357632.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:52.618Z,1736357632.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:52.714Z,1736357632.714 [DAT](INFO): DAT read: Rx Time:17:33:51.5042 

2025-01-08T17:33:52.714Z,1736357632.714 [DAT](INFO): Rx dataTimestamp_ set to:1736357632.713897
2025-01-08T17:33:52.716Z,1736357632.716 [DAT](INFO): DAT read: Range 10 to 50 :    28.5 m (trip time 19.0 ms) speed -0.1

2025-01-08T17:33:52.717Z,1736357632.717 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-01-08T17:33:52.719Z,1736357632.719 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=35.023491
2025-01-08T17:33:52.964Z,1736357632.964 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=35.269302
2025-01-08T17:33:53.033Z,1736357633.033 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:53.056Z,1736357633.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.500000 m,
      deltaT: 0.503250 s,
      deltaX: 0.299999 m,
      approachRate: 0.596124 m/s,
      rangeRepo size: 4

2025-01-08T17:33:53.060Z,1736357633.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:53.217Z,1736357633.217 [DAT](INFO): DAT read: Rx Time:17:33:52.0042 

2025-01-08T17:33:53.218Z,1736357633.218 [DAT](INFO): Rx dataTimestamp_ set to:1736357633.217865
2025-01-08T17:33:53.220Z,1736357633.220 [DAT](INFO): DAT read: Range 10 to 50 :    28.5 m (trip time 19.0 ms) speed 0.0

2025-01-08T17:33:53.220Z,1736357633.220 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-01-08T17:33:53.221Z,1736357633.221 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=35.526321
2025-01-08T17:33:53.455Z,1736357633.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:53.464Z,1736357633.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.500000 m,
      deltaT: 0.503968 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:53.465Z,1736357633.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:53.469Z,1736357633.469 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=35.774456
2025-01-08T17:33:53.722Z,1736357633.722 [DAT](INFO): DAT read: Rx Time:17:33:52.5043 

2025-01-08T17:33:53.723Z,1736357633.723 [DAT](INFO): Rx dataTimestamp_ set to:1736357633.722464
2025-01-08T17:33:53.726Z,1736357633.726 [DAT](INFO): DAT read: Range 10 to 50 :    28.7 m (trip time 19.1 ms) speed -0.1

2025-01-08T17:33:53.727Z,1736357633.727 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-01-08T17:33:53.729Z,1736357633.729 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=36.034027
2025-01-08T17:33:53.828Z,1736357633.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:53.862Z,1736357633.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.700001 m,
      deltaT: 0.504599 s,
      deltaX: 0.200001 m,
      approachRate: 0.396356 m/s,
      rangeRepo size: 4

2025-01-08T17:33:53.862Z,1736357633.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:53.972Z,1736357633.972 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=36.277267
2025-01-08T17:33:54.229Z,1736357634.229 [DAT](INFO): DAT read: Rx Time:17:33:53.0042 

2025-01-08T17:33:54.230Z,1736357634.230 [DAT](INFO): Rx dataTimestamp_ set to:1736357634.229240
2025-01-08T17:33:54.235Z,1736357634.235 [DAT](INFO): DAT read: Range 10 to 50 :    28.5 m (trip time 19.0 ms) speed -0.1

2025-01-08T17:33:54.237Z,1736357634.237 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-01-08T17:33:54.239Z,1736357634.239 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=36.543800
2025-01-08T17:33:54.314Z,1736357634.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:54.330Z,1736357634.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.500000 m,
      deltaT: 0.506776 s,
      deltaX: -0.200001 m,
      approachRate: -0.394653 m/s,
      rangeRepo size: 4

2025-01-08T17:33:54.331Z,1736357634.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:54.482Z,1736357634.482 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=36.784100
2025-01-08T17:33:54.725Z,1736357634.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:54.729Z,1736357634.729 [DAT](INFO): DAT read: Rx Time:17:33:53.5044 

2025-01-08T17:33:54.729Z,1736357634.729 [DAT](INFO): Rx dataTimestamp_ set to:1736357634.728694
2025-01-08T17:33:54.730Z,1736357634.730 [DAT](INFO): DAT read: Range 10 to 50 :    28.8 m (trip time 19.2 ms) speed -0.2

2025-01-08T17:33:54.731Z,1736357634.731 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-01-08T17:33:54.732Z,1736357634.732 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=37.036812
2025-01-08T17:33:54.760Z,1736357634.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.799999 m,
      deltaT: 0.499454 s,
      deltaX: 0.299999 m,
      approachRate: 0.600654 m/s,
      rangeRepo size: 4

2025-01-08T17:33:54.760Z,1736357634.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:54.980Z,1736357634.980 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=37.285225
2025-01-08T17:33:55.143Z,1736357635.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:55.162Z,1736357635.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:55.236Z,1736357635.236 [DAT](INFO): DAT read: Rx Time:17:33:54.0044 

2025-01-08T17:33:55.238Z,1736357635.238 [DAT](INFO): Rx dataTimestamp_ set to:1736357635.236680
2025-01-08T17:33:55.240Z,1736357635.240 [DAT](INFO): DAT read: Range 10 to 50 :    28.8 m (trip time 19.2 ms) speed 0.0

2025-01-08T17:33:55.240Z,1736357635.240 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-01-08T17:33:55.241Z,1736357635.241 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=37.546131
2025-01-08T17:33:55.500Z,1736357635.500 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=37.791580
2025-01-08T17:33:55.583Z,1736357635.583 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:55.593Z,1736357635.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.799999 m,
      deltaT: 0.507986 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:55.594Z,1736357635.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:55.737Z,1736357635.737 [DAT](INFO): DAT read: Rx Time:17:33:54.5045 

2025-01-08T17:33:55.738Z,1736357635.738 [DAT](INFO): Rx dataTimestamp_ set to:1736357635.737452
2025-01-08T17:33:55.740Z,1736357635.740 [DAT](INFO): DAT read: Range 10 to 50 :    29.0 m (trip time 19.3 ms) speed -0.3

2025-01-08T17:33:55.741Z,1736357635.741 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-01-08T17:33:55.742Z,1736357635.742 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=38.046860
2025-01-08T17:33:55.973Z,1736357635.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:55.995Z,1736357635.995 [DAT](INFO): DAT read: Rx Time:17:33:55.0044 

2025-01-08T17:33:55.997Z,1736357635.997 [DAT](INFO): Rx dataTimestamp_ set to:1736357635.995531
2025-01-08T17:33:56.001Z,1736357636.001 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=38.303642
2025-01-08T17:33:56.015Z,1736357636.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.000000 m,
      deltaT: 0.500772 s,
      deltaX: 0.200001 m,
      approachRate: 0.399385 m/s,
      rangeRepo size: 4

2025-01-08T17:33:56.020Z,1736357636.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:56.260Z,1736357636.260 [DAT](INFO): DAT read: Range 10 to 50 :    28.8 m (trip time 19.2 ms) speed 0.0

2025-01-08T17:33:56.263Z,1736357636.263 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-01-08T17:33:56.267Z,1736357636.267 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=38.571030
2025-01-08T17:33:56.475Z,1736357636.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:56.503Z,1736357636.503 [DAT](INFO): DAT read: Rx Time:17:33:55.5046 

2025-01-08T17:33:56.504Z,1736357636.504 [DAT](INFO): Rx dataTimestamp_ set to:1736357636.502785
2025-01-08T17:33:56.505Z,1736357636.505 [DAT](INFO): DAT read: Range 10 to 50 :    29.1 m (trip time 19.4 ms) speed -0.2

2025-01-08T17:33:56.505Z,1736357636.505 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-01-08T17:33:56.506Z,1736357636.506 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=38.811314
2025-01-08T17:33:56.507Z,1736357636.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.799999 m,
      deltaT: 0.508863 s,
      deltaX: -0.200001 m,
      approachRate: -0.393035 m/s,
      rangeRepo size: 4

2025-01-08T17:33:56.508Z,1736357636.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:56.744Z,1736357636.744 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=39.049263
2025-01-08T17:33:56.843Z,1736357636.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:56.857Z,1736357636.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.100000 m,
      deltaT: 0.256470 s,
      deltaX: 0.300001 m,
      approachRate: 1.169732 m/s,
      rangeRepo size: 4

2025-01-08T17:33:56.858Z,1736357636.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:57.002Z,1736357637.002 [DAT](INFO): DAT read: Rx Time:17:33:56.0046 

2025-01-08T17:33:57.002Z,1736357637.002 [DAT](INFO): Rx dataTimestamp_ set to:1736357637.001921
2025-01-08T17:33:57.004Z,1736357637.004 [DAT](INFO): DAT read: Range 10 to 50 :    29.1 m (trip time 19.4 ms) speed -0.2

2025-01-08T17:33:57.004Z,1736357637.004 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-01-08T17:33:57.005Z,1736357637.005 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=39.310066
2025-01-08T17:33:57.251Z,1736357637.251 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=39.555485
2025-01-08T17:33:57.316Z,1736357637.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:57.339Z,1736357637.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.100000 m,
      deltaT: 0.499136 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:57.340Z,1736357637.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:57.502Z,1736357637.502 [DAT](INFO): DAT read: Rx Time:17:33:56.5047 

2025-01-08T17:33:57.503Z,1736357637.503 [DAT](INFO): Rx dataTimestamp_ set to:1736357637.502324
2025-01-08T17:33:57.507Z,1736357637.507 [DAT](INFO): DAT read: Range 10 to 50 :    29.3 m (trip time 19.5 ms) speed -0.1

2025-01-08T17:33:57.508Z,1736357637.508 [DAT](ERROR): #Rx 108: Read range message, but no direction.
2025-01-08T17:33:57.508Z,1736357637.508 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=39.813393
2025-01-08T17:33:57.718Z,1736357637.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:57.744Z,1736357637.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.299999 m,
      deltaT: 0.500403 s,
      deltaX: 0.199999 m,
      approachRate: 0.399676 m/s,
      rangeRepo size: 4

2025-01-08T17:33:57.745Z,1736357637.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:57.752Z,1736357637.752 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=40.057453
2025-01-08T17:33:58.005Z,1736357638.005 [DAT](INFO): DAT read: Rx Time:17:33:57.0047 

2025-01-08T17:33:58.005Z,1736357638.005 [DAT](INFO): Rx dataTimestamp_ set to:1736357638.005178
2025-01-08T17:33:58.007Z,1736357638.007 [DAT](INFO): DAT read: Range 10 to 50 :    29.3 m (trip time 19.5 ms) speed -0.1

2025-01-08T17:33:58.008Z,1736357638.008 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-01-08T17:33:58.009Z,1736357638.009 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=40.313919
2025-01-08T17:33:58.152Z,1736357638.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:58.162Z,1736357638.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.299999 m,
      deltaT: 0.502854 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:33:58.162Z,1736357638.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:58.260Z,1736357638.260 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=40.564865
2025-01-08T17:33:58.510Z,1736357638.510 [DAT](INFO): DAT read: Rx Time:17:33:57.5049 

2025-01-08T17:33:58.510Z,1736357638.510 [DAT](INFO): Rx dataTimestamp_ set to:1736357638.510153
2025-01-08T17:33:58.514Z,1736357638.514 [DAT](INFO): DAT read: Range 10 to 50 :    29.6 m (trip time 19.7 ms) speed -0.3

2025-01-08T17:33:58.516Z,1736357638.516 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-01-08T17:33:58.518Z,1736357638.518 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=40.822285
2025-01-08T17:33:58.613Z,1736357638.613 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:58.636Z,1736357638.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.600000 m,
      deltaT: 0.504975 s,
      deltaX: 0.300001 m,
      approachRate: 0.594091 m/s,
      rangeRepo size: 4

2025-01-08T17:33:58.637Z,1736357638.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:58.761Z,1736357638.761 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=41.065590
2025-01-08T17:33:59.013Z,1736357639.013 [DAT](INFO): DAT read: Rx Time:17:33:58.0048 

2025-01-08T17:33:59.013Z,1736357639.013 [DAT](INFO): Rx dataTimestamp_ set to:1736357639.012850
2025-01-08T17:33:59.014Z,1736357639.014 [DAT](INFO): DAT read: Range 10 to 50 :    29.4 m (trip time 19.6 ms) speed -0.2

2025-01-08T17:33:59.016Z,1736357639.016 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-01-08T17:33:59.017Z,1736357639.017 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=41.321667
2025-01-08T17:33:59.020Z,1736357639.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:59.046Z,1736357639.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.400000 m,
      deltaT: 0.502697 s,
      deltaX: -0.200001 m,
      approachRate: -0.397855 m/s,
      rangeRepo size: 4

2025-01-08T17:33:59.046Z,1736357639.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:59.268Z,1736357639.268 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=41.571892
2025-01-08T17:33:59.484Z,1736357639.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:59.516Z,1736357639.516 [DAT](INFO): DAT read: Rx Time:17:33:58.5050 

2025-01-08T17:33:59.517Z,1736357639.517 [DAT](INFO): Rx dataTimestamp_ set to:1736357639.516869
2025-01-08T17:33:59.519Z,1736357639.519 [DAT](INFO): DAT read: Range 10 to 50 :    29.7 m (trip time 19.8 ms) speed 0.0

2025-01-08T17:33:59.520Z,1736357639.520 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-01-08T17:33:59.521Z,1736357639.521 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=41.826172
2025-01-08T17:33:59.533Z,1736357639.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.504019 s,
      deltaX: 0.300001 m,
      approachRate: 0.595218 m/s,
      rangeRepo size: 4

2025-01-08T17:33:59.533Z,1736357639.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:33:59.769Z,1736357639.769 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=42.074306
2025-01-08T17:33:59.953Z,1736357639.953 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:33:59.968Z,1736357639.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:00.022Z,1736357640.022 [DAT](INFO): DAT read: Rx Time:17:33:59.0050 

2025-01-08T17:34:00.028Z,1736357640.028 [DAT](INFO): Rx dataTimestamp_ set to:1736357640.027205
2025-01-08T17:34:00.029Z,1736357640.029 [DAT](INFO): DAT read: Range 10 to 50 :    29.7 m (trip time 19.8 ms) speed 0.0

2025-01-08T17:34:00.029Z,1736357640.029 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-01-08T17:34:00.030Z,1736357640.030 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=42.335281
2025-01-08T17:34:00.277Z,1736357640.277 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=42.581818
2025-01-08T17:34:00.419Z,1736357640.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:00.430Z,1736357640.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.510336 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:34:00.431Z,1736357640.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:00.525Z,1736357640.525 [DAT](INFO): DAT read: Rx Time:17:33:59.5051 

2025-01-08T17:34:00.525Z,1736357640.525 [DAT](INFO): Rx dataTimestamp_ set to:1736357640.524844
2025-01-08T17:34:00.526Z,1736357640.526 [DAT](INFO): DAT read: Range 10 to 50 :    29.9 m (trip time 19.9 ms) speed 0.2

2025-01-08T17:34:00.528Z,1736357640.528 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-01-08T17:34:00.529Z,1736357640.529 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=42.833736
2025-01-08T17:34:00.777Z,1736357640.777 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=43.082066
2025-01-08T17:34:00.815Z,1736357640.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:00.824Z,1736357640.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.900000 m,
      deltaT: 0.497639 s,
      deltaX: 0.199999 m,
      approachRate: 0.401895 m/s,
      rangeRepo size: 4

2025-01-08T17:34:00.825Z,1736357640.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:01.028Z,1736357641.028 [DAT](INFO): DAT read: Rx Time:17:34:00.0050 

2025-01-08T17:34:01.029Z,1736357641.029 [DAT](INFO): Rx dataTimestamp_ set to:1736357641.028565
2025-01-08T17:34:01.030Z,1736357641.030 [DAT](INFO): DAT read: Range 10 to 50 :    29.7 m (trip time 19.8 ms) speed 0.0

2025-01-08T17:34:01.031Z,1736357641.031 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-01-08T17:34:01.039Z,1736357641.039 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=43.343468
2025-01-08T17:34:01.198Z,1736357641.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:01.208Z,1736357641.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.503721 s,
      deltaX: -0.199999 m,
      approachRate: -0.397043 m/s,
      rangeRepo size: 4

2025-01-08T17:34:01.209Z,1736357641.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:01.284Z,1736357641.284 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=43.588089
2025-01-08T17:34:01.532Z,1736357641.532 [DAT](INFO): DAT read: Rx Time:17:34:00.5051 

2025-01-08T17:34:01.533Z,1736357641.533 [DAT](INFO): Rx dataTimestamp_ set to:1736357641.532553
2025-01-08T17:34:01.538Z,1736357641.538 [DAT](INFO): DAT read: Range 10 to 50 :    29.9 m (trip time 19.9 ms) speed 0.0

2025-01-08T17:34:01.541Z,1736357641.541 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-01-08T17:34:01.542Z,1736357641.542 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=43.847027
2025-01-08T17:34:01.662Z,1736357641.662 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:01.673Z,1736357641.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.900000 m,
      deltaT: 0.503988 s,
      deltaX: 0.199999 m,
      approachRate: 0.396833 m/s,
      rangeRepo size: 4

2025-01-08T17:34:01.674Z,1736357641.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:01.786Z,1736357641.786 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=44.090584
2025-01-08T17:34:02.037Z,1736357642.037 [DAT](INFO): DAT read: Rx Time:17:34:01.0050 

2025-01-08T17:34:02.037Z,1736357642.037 [DAT](INFO): Rx dataTimestamp_ set to:1736357642.036732
2025-01-08T17:34:02.038Z,1736357642.038 [DAT](INFO): DAT read: Range 10 to 50 :    29.7 m (trip time 19.8 ms) speed 0.0

2025-01-08T17:34:02.039Z,1736357642.039 [DAT](ERROR): #Rx 117: Read range message, but no direction.
2025-01-08T17:34:02.044Z,1736357642.044 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=44.348812
2025-01-08T17:34:02.107Z,1736357642.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:02.128Z,1736357642.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.504179 s,
      deltaX: -0.199999 m,
      approachRate: -0.396682 m/s,
      rangeRepo size: 4

2025-01-08T17:34:02.129Z,1736357642.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:02.292Z,1736357642.292 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=44.595592
2025-01-08T17:34:02.540Z,1736357642.540 [DAT](INFO): DAT read: Rx Time:17:34:01.5050 

2025-01-08T17:34:02.541Z,1736357642.541 [DAT](INFO): Rx dataTimestamp_ set to:1736357642.540667
2025-01-08T17:34:02.542Z,1736357642.542 [DAT](INFO): DAT read: Range 10 to 50 :    29.7 m (trip time 19.8 ms) speed 0.0

2025-01-08T17:34:02.543Z,1736357642.543 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-01-08T17:34:02.545Z,1736357642.545 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=44.849487
2025-01-08T17:34:02.572Z,1736357642.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:02.582Z,1736357642.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.503935 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:34:02.583Z,1736357642.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:02.792Z,1736357642.792 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=45.097282
2025-01-08T17:34:03.041Z,1736357643.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:03.045Z,1736357643.045 [DAT](INFO): DAT read: Rx Time:17:34:02.0049 

2025-01-08T17:34:03.045Z,1736357643.045 [DAT](INFO): Rx dataTimestamp_ set to:1736357643.044755
2025-01-08T17:34:03.046Z,1736357643.046 [DAT](INFO): DAT read: Range 10 to 50 :    29.6 m (trip time 19.7 ms) speed 0.0

2025-01-08T17:34:03.047Z,1736357643.047 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-01-08T17:34:03.052Z,1736357643.052 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=45.357433
2025-01-08T17:34:03.081Z,1736357643.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.600000 m,
      deltaT: 0.504088 s,
      deltaX: -0.100000 m,
      approachRate: -0.198379 m/s,
      rangeRepo size: 4

2025-01-08T17:34:03.081Z,1736357643.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:03.299Z,1736357643.299 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=45.603809
2025-01-08T17:34:03.457Z,1736357643.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:03.466Z,1736357643.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:03.549Z,1736357643.549 [DAT](INFO): DAT read: Rx Time:17:34:02.5050 

2025-01-08T17:34:03.550Z,1736357643.550 [DAT](INFO): Rx dataTimestamp_ set to:1736357643.549621
2025-01-08T17:34:03.553Z,1736357643.553 [DAT](INFO): DAT read: Range 10 to 50 :    29.7 m (trip time 19.8 ms) speed 0.0

2025-01-08T17:34:03.554Z,1736357643.554 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-01-08T17:34:03.556Z,1736357643.556 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:34:03.556Z,1736357643.556 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:34:03.556Z,1736357643.556 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:03.800Z,1736357643.800 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:03.800Z,1736357643.800 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:03.801Z,1736357643.801 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:03.841Z,1736357643.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:03.850Z,1736357643.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.504866 s,
      deltaX: 0.100000 m,
      approachRate: 0.198073 m/s,
      rangeRepo size: 4

2025-01-08T17:34:03.851Z,1736357643.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:04.053Z,1736357644.053 [DAT](INFO): DAT read: Rx Time:17:34:03.0049 

2025-01-08T17:34:04.053Z,1736357644.053 [DAT](INFO): Rx dataTimestamp_ set to:1736357644.052926
2025-01-08T17:34:04.054Z,1736357644.054 [DAT](INFO): DAT read: Range 10 to 50 :    29.6 m (trip time 19.7 ms) speed 0.0

2025-01-08T17:34:04.056Z,1736357644.056 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:04.057Z,1736357644.057 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:04.057Z,1736357644.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:04.279Z,1736357644.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:04.305Z,1736357644.305 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:04.305Z,1736357644.305 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:04.306Z,1736357644.306 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:04.310Z,1736357644.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.600000 m,
      deltaT: 0.503305 s,
      deltaX: -0.100000 m,
      approachRate: -0.198687 m/s,
      rangeRepo size: 4

2025-01-08T17:34:04.311Z,1736357644.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:04.556Z,1736357644.556 [DAT](INFO): DAT read: Rx Time:17:34:03.5050 

2025-01-08T17:34:04.557Z,1736357644.557 [DAT](INFO): Rx dataTimestamp_ set to:1736357644.556543
2025-01-08T17:34:04.558Z,1736357644.558 [DAT](INFO): DAT read: Range 10 to 50 :    29.7 m (trip time 19.8 ms) speed 0.0

2025-01-08T17:34:04.559Z,1736357644.559 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:04.564Z,1736357644.564 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:04.564Z,1736357644.564 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:04.808Z,1736357644.808 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:04.808Z,1736357644.808 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:04.809Z,1736357644.809 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:04.826Z,1736357644.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:04.863Z,1736357644.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.503617 s,
      deltaX: 0.100000 m,
      approachRate: 0.198564 m/s,
      rangeRepo size: 4

2025-01-08T17:34:04.864Z,1736357644.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:05.060Z,1736357645.060 [DAT](INFO): DAT read: Rx Time:17:34:04.0049 

2025-01-08T17:34:05.061Z,1736357645.061 [DAT](INFO): Rx dataTimestamp_ set to:1736357645.060662
2025-01-08T17:34:05.062Z,1736357645.062 [DAT](INFO): DAT read: Range 10 to 50 :    29.6 m (trip time 19.7 ms) speed 0.0

2025-01-08T17:34:05.063Z,1736357645.063 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:05.065Z,1736357645.065 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:05.065Z,1736357645.065 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:05.206Z,1736357645.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:05.219Z,1736357645.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.600000 m,
      deltaT: 0.504119 s,
      deltaX: -0.100000 m,
      approachRate: -0.198367 m/s,
      rangeRepo size: 4

2025-01-08T17:34:05.219Z,1736357645.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:05.312Z,1736357645.312 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:05.312Z,1736357645.312 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:05.312Z,1736357645.312 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:05.564Z,1736357645.564 [DAT](INFO): DAT read: Rx Time:17:34:04.5050 

2025-01-08T17:34:05.565Z,1736357645.565 [DAT](INFO): Rx dataTimestamp_ set to:1736357645.564614
2025-01-08T17:34:05.566Z,1736357645.566 [DAT](INFO): DAT read: Range 10 to 50 :    29.7 m (trip time 19.8 ms) speed 0.0

2025-01-08T17:34:05.570Z,1736357645.570 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:05.581Z,1736357645.581 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:05.582Z,1736357645.582 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:05.685Z,1736357645.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:05.714Z,1736357645.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.503952 s,
      deltaX: 0.100000 m,
      approachRate: 0.198432 m/s,
      rangeRepo size: 4

2025-01-08T17:34:05.719Z,1736357645.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:05.816Z,1736357645.816 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:05.816Z,1736357645.816 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:05.817Z,1736357645.817 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:06.069Z,1736357646.069 [DAT](INFO): DAT read: Rx Time:17:34:05.0049 

2025-01-08T17:34:06.069Z,1736357646.069 [DAT](INFO): Rx dataTimestamp_ set to:1736357646.068890
2025-01-08T17:34:06.070Z,1736357646.070 [DAT](INFO): DAT read: Range 10 to 50 :    29.6 m (trip time 19.7 ms) speed 0.1

2025-01-08T17:34:06.072Z,1736357646.072 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:06.072Z,1736357646.072 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:06.073Z,1736357646.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:06.143Z,1736357646.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:06.161Z,1736357646.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.600000 m,
      deltaT: 0.504276 s,
      deltaX: -0.100000 m,
      approachRate: -0.198305 m/s,
      rangeRepo size: 4

2025-01-08T17:34:06.161Z,1736357646.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:06.320Z,1736357646.320 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:06.321Z,1736357646.321 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:06.321Z,1736357646.321 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:06.573Z,1736357646.573 [DAT](INFO): DAT read: Rx Time:17:34:05.5049 

2025-01-08T17:34:06.573Z,1736357646.573 [DAT](INFO): Rx dataTimestamp_ set to:1736357646.572810
2025-01-08T17:34:06.574Z,1736357646.574 [DAT](INFO): DAT read: Range 10 to 50 :    29.6 m (trip time 19.7 ms) speed 0.0

2025-01-08T17:34:06.575Z,1736357646.575 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:06.584Z,1736357646.584 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:06.585Z,1736357646.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:06.700Z,1736357646.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.6 s old, using for 20.0 s.
2025-01-08T17:34:06.700Z,1736357646.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:06.726Z,1736357646.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.600000 m,
      deltaT: 0.503920 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:34:06.726Z,1736357646.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:06.824Z,1736357646.824 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:06.824Z,1736357646.824 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:06.824Z,1736357646.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:07.078Z,1736357647.078 [DAT](INFO): DAT read: Rx Time:17:34:06.0049 

2025-01-08T17:34:07.078Z,1736357647.078 [DAT](INFO): Rx dataTimestamp_ set to:1736357647.077885
2025-01-08T17:34:07.080Z,1736357647.080 [DAT](INFO): DAT read: Range 10 to 50 :    29.6 m (trip time 19.7 ms) speed -0.1

2025-01-08T17:34:07.081Z,1736357647.081 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:07.082Z,1736357647.082 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:07.082Z,1736357647.082 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:07.160Z,1736357647.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.0 s old, using for 20.0 s.
2025-01-08T17:34:07.160Z,1736357647.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:07.171Z,1736357647.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.600000 m,
      deltaT: 0.505075 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:34:07.172Z,1736357647.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:07.328Z,1736357647.328 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:07.328Z,1736357647.328 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:07.329Z,1736357647.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:07.580Z,1736357647.580 [DAT](INFO): DAT read: Rx Time:17:34:06.5052 

2025-01-08T17:34:07.581Z,1736357647.581 [DAT](INFO): Rx dataTimestamp_ set to:1736357647.580642
2025-01-08T17:34:07.582Z,1736357647.582 [DAT](INFO): DAT read: Range 10 to 50 :    30.0 m (trip time 20.0 ms) speed 0.1

2025-01-08T17:34:07.583Z,1736357647.583 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:07.584Z,1736357647.584 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:07.585Z,1736357647.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:07.598Z,1736357647.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:07.655Z,1736357647.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.000000 m,
      deltaT: 0.502757 s,
      deltaX: 0.400000 m,
      approachRate: 0.795612 m/s,
      rangeRepo size: 4

2025-01-08T17:34:07.660Z,1736357647.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:07.832Z,1736357647.832 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:07.832Z,1736357647.832 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:07.832Z,1736357647.832 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:07.979Z,1736357647.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:08.001Z,1736357648.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:08.086Z,1736357648.086 [DAT](INFO): DAT read: Rx Time:17:34:07.0051 

2025-01-08T17:34:08.087Z,1736357648.087 [DAT](INFO): Rx dataTimestamp_ set to:1736357648.085970
2025-01-08T17:34:08.090Z,1736357648.090 [DAT](INFO): DAT read: Range 10 to 50 :    29.9 m (trip time 19.9 ms) speed 0.0

2025-01-08T17:34:08.091Z,1736357648.091 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:08.092Z,1736357648.092 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:08.092Z,1736357648.092 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:08.336Z,1736357648.336 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:08.336Z,1736357648.336 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:08.336Z,1736357648.336 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:08.416Z,1736357648.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:08.464Z,1736357648.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.900000 m,
      deltaT: 0.505328 s,
      deltaX: -0.100000 m,
      approachRate: -0.197892 m/s,
      rangeRepo size: 4

2025-01-08T17:34:08.465Z,1736357648.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:08.590Z,1736357648.590 [DAT](INFO): DAT read: Rx Time:17:34:07.5053 

2025-01-08T17:34:08.590Z,1736357648.590 [DAT](INFO): Rx dataTimestamp_ set to:1736357648.589957
2025-01-08T17:34:08.598Z,1736357648.598 [DAT](INFO): DAT read: Range 10 to 50 :    30.2 m (trip time 20.1 ms) speed -0.2

2025-01-08T17:34:08.598Z,1736357648.598 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:08.599Z,1736357648.599 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:08.599Z,1736357648.599 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:08.787Z,1736357648.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:08.797Z,1736357648.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.200001 m,
      deltaT: 0.503987 s,
      deltaX: 0.300001 m,
      approachRate: 0.595256 m/s,
      rangeRepo size: 4

2025-01-08T17:34:08.797Z,1736357648.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:08.840Z,1736357648.840 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:08.840Z,1736357648.840 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:08.840Z,1736357648.840 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:09.092Z,1736357649.092 [DAT](INFO): DAT read: Rx Time:17:34:08.0053 

2025-01-08T17:34:09.093Z,1736357649.093 [DAT](INFO): Rx dataTimestamp_ set to:1736357649.092670
2025-01-08T17:34:09.094Z,1736357649.094 [DAT](INFO): DAT read: Range 10 to 50 :    30.2 m (trip time 20.1 ms) speed -0.1

2025-01-08T17:34:09.095Z,1736357649.095 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:09.096Z,1736357649.096 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:09.096Z,1736357649.096 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:09.173Z,1736357649.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:09.182Z,1736357649.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.200001 m,
      deltaT: 0.502713 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:34:09.182Z,1736357649.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:09.344Z,1736357649.344 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:09.344Z,1736357649.344 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:09.345Z,1736357649.345 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:09.597Z,1736357649.597 [DAT](INFO): DAT read: Rx Time:17:34:08.5054 

2025-01-08T17:34:09.597Z,1736357649.597 [DAT](INFO): Rx dataTimestamp_ set to:1736357649.596754
2025-01-08T17:34:09.598Z,1736357649.598 [DAT](INFO): DAT read: Range 10 to 50 :    30.3 m (trip time 20.2 ms) speed 0.0

2025-01-08T17:34:09.599Z,1736357649.599 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:09.600Z,1736357649.600 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:09.600Z,1736357649.600 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:09.614Z,1736357649.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:09.649Z,1736357649.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.299999 m,
      deltaT: 0.504084 s,
      deltaX: 0.099998 m,
      approachRate: 0.198377 m/s,
      rangeRepo size: 4

2025-01-08T17:34:09.649Z,1736357649.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:09.848Z,1736357649.848 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:09.848Z,1736357649.848 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:09.849Z,1736357649.849 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:10.043Z,1736357650.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:10.072Z,1736357650.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:10.103Z,1736357650.103 [DAT](INFO): DAT read: Rx Time:17:34:09.0054 

2025-01-08T17:34:10.104Z,1736357650.104 [DAT](INFO): Rx dataTimestamp_ set to:1736357650.103590
2025-01-08T17:34:10.107Z,1736357650.107 [DAT](INFO): DAT read: Range 10 to 50 :    30.3 m (trip time 20.2 ms) speed -0.1

2025-01-08T17:34:10.113Z,1736357650.113 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:10.114Z,1736357650.114 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:10.114Z,1736357650.114 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:10.352Z,1736357650.352 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:10.353Z,1736357650.353 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:10.353Z,1736357650.353 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:10.527Z,1736357650.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:10.537Z,1736357650.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.299999 m,
      deltaT: 0.506836 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:34:10.537Z,1736357650.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:10.610Z,1736357650.610 [DAT](INFO): DAT read: Rx Time:17:34:09.5056 

2025-01-08T17:34:10.611Z,1736357650.611 [DAT](INFO): Rx dataTimestamp_ set to:1736357650.610310
2025-01-08T17:34:10.619Z,1736357650.619 [DAT](INFO): DAT read: Range 10 to 50 :    30.6 m (trip time 20.4 ms) speed -0.1

2025-01-08T17:34:10.621Z,1736357650.621 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:10.622Z,1736357650.622 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:10.622Z,1736357650.622 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:10.847Z,1736357650.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:10.860Z,1736357650.860 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:10.860Z,1736357650.860 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:10.860Z,1736357650.860 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:10.878Z,1736357650.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.600000 m,
      deltaT: 0.506720 s,
      deltaX: 0.300001 m,
      approachRate: 0.592045 m/s,
      rangeRepo size: 4

2025-01-08T17:34:10.878Z,1736357650.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:11.122Z,1736357651.122 [DAT](INFO): DAT read: Rx Time:17:34:10.0055 

2025-01-08T17:34:11.122Z,1736357651.122 [DAT](INFO): Rx dataTimestamp_ set to:1736357651.121867
2025-01-08T17:34:11.124Z,1736357651.124 [DAT](INFO): DAT read: Range 10 to 50 :    30.5 m (trip time 20.3 ms) speed -0.2

2025-01-08T17:34:11.125Z,1736357651.125 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:11.126Z,1736357651.126 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:11.126Z,1736357651.126 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:11.269Z,1736357651.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:11.279Z,1736357651.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.500000 m,
      deltaT: 0.511557 s,
      deltaX: -0.100000 m,
      approachRate: -0.195482 m/s,
      rangeRepo size: 4

2025-01-08T17:34:11.279Z,1736357651.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:11.365Z,1736357651.365 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:11.365Z,1736357651.365 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:11.365Z,1736357651.365 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:11.616Z,1736357651.616 [DAT](INFO): DAT read: Rx Time:17:34:10.5056 

2025-01-08T17:34:11.618Z,1736357651.618 [DAT](INFO): Rx dataTimestamp_ set to:1736357651.617019
2025-01-08T17:34:11.619Z,1736357651.619 [DAT](INFO): DAT read: Range 10 to 50 :    30.6 m (trip time 20.4 ms) speed -0.2

2025-01-08T17:34:11.621Z,1736357651.621 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:11.622Z,1736357651.622 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:11.622Z,1736357651.622 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:11.720Z,1736357651.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:11.730Z,1736357651.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.600000 m,
      deltaT: 0.495152 s,
      deltaX: 0.100000 m,
      approachRate: 0.201959 m/s,
      rangeRepo size: 4

2025-01-08T17:34:11.730Z,1736357651.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:11.868Z,1736357651.868 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:11.869Z,1736357651.869 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:11.869Z,1736357651.869 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:12.084Z,1736357652.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:12.093Z,1736357652.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:12.120Z,1736357652.120 [DAT](INFO): DAT read: Rx Time:17:34:11.0055 

2025-01-08T17:34:12.121Z,1736357652.121 [DAT](INFO): Rx dataTimestamp_ set to:1736357652.120674
2025-01-08T17:34:12.123Z,1736357652.123 [DAT](INFO): DAT read: Range 10 to 50 :    30.5 m (trip time 20.3 ms) speed -0.2

2025-01-08T17:34:12.130Z,1736357652.130 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:12.132Z,1736357652.132 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:12.133Z,1736357652.133 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:12.372Z,1736357652.372 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:12.372Z,1736357652.372 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:12.372Z,1736357652.372 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:12.549Z,1736357652.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:12.559Z,1736357652.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.500000 m,
      deltaT: 0.503655 s,
      deltaX: -0.100000 m,
      approachRate: -0.198549 m/s,
      rangeRepo size: 4

2025-01-08T17:34:12.560Z,1736357652.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:12.625Z,1736357652.625 [DAT](INFO): DAT read: Rx Time:17:34:11.5057 

2025-01-08T17:34:12.625Z,1736357652.625 [DAT](INFO): Rx dataTimestamp_ set to:1736357652.624837
2025-01-08T17:34:12.626Z,1736357652.626 [DAT](INFO): DAT read: Range 10 to 50 :    30.8 m (trip time 20.5 ms) speed 0.0

2025-01-08T17:34:12.628Z,1736357652.628 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:12.629Z,1736357652.629 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:12.629Z,1736357652.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:12.876Z,1736357652.876 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:12.876Z,1736357652.876 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:12.876Z,1736357652.876 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:12.936Z,1736357652.936 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:12.947Z,1736357652.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.799999 m,
      deltaT: 0.504163 s,
      deltaX: 0.299999 m,
      approachRate: 0.595044 m/s,
      rangeRepo size: 4

2025-01-08T17:34:12.948Z,1736357652.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:13.129Z,1736357653.129 [DAT](INFO): DAT read: Rx Time:17:34:12.0057 

2025-01-08T17:34:13.130Z,1736357653.130 [DAT](INFO): Rx dataTimestamp_ set to:1736357653.129406
2025-01-08T17:34:13.131Z,1736357653.131 [DAT](INFO): DAT read: Range 10 to 50 :    30.8 m (trip time 20.5 ms) speed -0.1

2025-01-08T17:34:13.132Z,1736357653.132 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:13.133Z,1736357653.133 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:13.133Z,1736357653.133 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:13.368Z,1736357653.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:13.382Z,1736357653.382 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:13.382Z,1736357653.382 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:13.383Z,1736357653.383 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:13.403Z,1736357653.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.799999 m,
      deltaT: 0.504569 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:34:13.403Z,1736357653.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:13.632Z,1736357653.632 [DAT](INFO): DAT read: Rx Time:17:34:12.5058 

2025-01-08T17:34:13.633Z,1736357653.633 [DAT](INFO): Rx dataTimestamp_ set to:1736357653.632576
2025-01-08T17:34:13.635Z,1736357653.635 [DAT](INFO): DAT read: Range 10 to 50 :    30.9 m (trip time 20.6 ms) speed -0.1

2025-01-08T17:34:13.639Z,1736357653.639 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:13.640Z,1736357653.640 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:13.640Z,1736357653.640 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:13.807Z,1736357653.807 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:13.829Z,1736357653.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.900000 m,
      deltaT: 0.503170 s,
      deltaX: 0.100000 m,
      approachRate: 0.198741 m/s,
      rangeRepo size: 4

2025-01-08T17:34:13.829Z,1736357653.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:13.885Z,1736357653.885 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:13.885Z,1736357653.885 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:13.885Z,1736357653.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:14.137Z,1736357654.137 [DAT](INFO): DAT read: Rx Time:17:34:13.0057 

2025-01-08T17:34:14.137Z,1736357654.137 [DAT](INFO): Rx dataTimestamp_ set to:1736357654.136916
2025-01-08T17:34:14.138Z,1736357654.138 [DAT](INFO): DAT read: Range 10 to 50 :    30.8 m (trip time 20.5 ms) speed -0.2

2025-01-08T17:34:14.140Z,1736357654.140 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:14.141Z,1736357654.141 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:14.141Z,1736357654.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:14.235Z,1736357654.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:14.257Z,1736357654.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.799999 m,
      deltaT: 0.504340 s,
      deltaX: -0.100000 m,
      approachRate: -0.198280 m/s,
      rangeRepo size: 4

2025-01-08T17:34:14.257Z,1736357654.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:14.388Z,1736357654.388 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:14.388Z,1736357654.388 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:14.388Z,1736357654.388 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:14.640Z,1736357654.640 [DAT](INFO): DAT read: Rx Time:17:34:13.5060 

2025-01-08T17:34:14.641Z,1736357654.641 [DAT](INFO): Rx dataTimestamp_ set to:1736357654.640671
2025-01-08T17:34:14.642Z,1736357654.642 [DAT](INFO): DAT read: Range 10 to 50 :    31.2 m (trip time 20.8 ms) speed 0.0

2025-01-08T17:34:14.643Z,1736357654.643 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:14.647Z,1736357654.647 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:14.647Z,1736357654.647 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:14.741Z,1736357654.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:14.754Z,1736357654.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.200001 m,
      deltaT: 0.503755 s,
      deltaX: 0.400002 m,
      approachRate: 0.794040 m/s,
      rangeRepo size: 4

2025-01-08T17:34:14.758Z,1736357654.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:14.892Z,1736357654.892 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:14.892Z,1736357654.892 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:14.892Z,1736357654.892 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:15.146Z,1736357655.146 [DAT](INFO): DAT read: Rx Time:17:34:14.0060 

2025-01-08T17:34:15.149Z,1736357655.149 [DAT](INFO): Rx dataTimestamp_ set to:1736357655.146653
2025-01-08T17:34:15.150Z,1736357655.150 [DAT](INFO): DAT read: Range 10 to 50 :    31.2 m (trip time 20.8 ms) speed -0.2

2025-01-08T17:34:15.151Z,1736357655.151 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:15.152Z,1736357655.152 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:15.153Z,1736357655.153 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:15.232Z,1736357655.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:15.242Z,1736357655.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.200001 m,
      deltaT: 0.505982 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:34:15.242Z,1736357655.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:15.397Z,1736357655.397 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:15.398Z,1736357655.398 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:15.398Z,1736357655.398 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:15.649Z,1736357655.649 [DAT](INFO): DAT read: Rx Time:17:34:14.5060 

2025-01-08T17:34:15.649Z,1736357655.649 [DAT](INFO): Rx dataTimestamp_ set to:1736357655.648758
2025-01-08T17:34:15.651Z,1736357655.651 [DAT](INFO): DAT read: Range 10 to 50 :    31.2 m (trip time 20.8 ms) speed 0.0

2025-01-08T17:34:15.657Z,1736357655.657 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:15.657Z,1736357655.657 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:15.658Z,1736357655.658 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:15.691Z,1736357655.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:15.722Z,1736357655.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.200001 m,
      deltaT: 0.502105 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:34:15.722Z,1736357655.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:15.901Z,1736357655.901 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:15.902Z,1736357655.902 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:15.902Z,1736357655.902 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:16.131Z,1736357656.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:16.153Z,1736357656.153 [DAT](INFO): DAT read: Rx Time:17:34:15.0060 

2025-01-08T17:34:16.153Z,1736357656.153 [DAT](INFO): Rx dataTimestamp_ set to:1736357656.152742
2025-01-08T17:34:16.154Z,1736357656.154 [DAT](INFO): DAT read: Range 10 to 50 :    31.2 m (trip time 20.8 ms) speed -0.1

2025-01-08T17:34:16.155Z,1736357656.155 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:16.157Z,1736357656.157 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:16.157Z,1736357656.157 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:16.173Z,1736357656.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.200001 m,
      deltaT: 0.503984 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:34:16.174Z,1736357656.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:16.404Z,1736357656.404 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:16.404Z,1736357656.404 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:16.405Z,1736357656.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:16.642Z,1736357656.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:16.656Z,1736357656.656 [DAT](INFO): DAT read: Rx Time:17:34:15.5060 

2025-01-08T17:34:16.657Z,1736357656.657 [DAT](INFO): Rx dataTimestamp_ set to:1736357656.656523
2025-01-08T17:34:16.658Z,1736357656.658 [DAT](INFO): DAT read: Range 10 to 50 :    31.2 m (trip time 20.8 ms) speed 0.0

2025-01-08T17:34:16.659Z,1736357656.659 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:16.664Z,1736357656.664 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:16.664Z,1736357656.664 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:16.692Z,1736357656.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.200001 m,
      deltaT: 0.503781 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:34:16.693Z,1736357656.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:16.908Z,1736357656.908 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:16.909Z,1736357656.909 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:16.909Z,1736357656.909 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:17.110Z,1736357657.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:17.137Z,1736357657.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:17.161Z,1736357657.161 [DAT](INFO): DAT read: Rx Time:17:34:16.0059 

2025-01-08T17:34:17.161Z,1736357657.161 [DAT](INFO): Rx dataTimestamp_ set to:1736357657.160820
2025-01-08T17:34:17.162Z,1736357657.162 [DAT](INFO): DAT read: Range 10 to 50 :    31.1 m (trip time 20.7 ms) speed -0.1

2025-01-08T17:34:17.164Z,1736357657.164 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:17.164Z,1736357657.164 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:17.165Z,1736357657.165 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:17.412Z,1736357657.412 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:17.412Z,1736357657.412 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:17.412Z,1736357657.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:17.607Z,1736357657.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:17.617Z,1736357657.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.100000 m,
      deltaT: 0.504297 s,
      deltaX: -0.100000 m,
      approachRate: -0.198297 m/s,
      rangeRepo size: 4

2025-01-08T17:34:17.618Z,1736357657.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:17.665Z,1736357657.665 [DAT](INFO): DAT read: Rx Time:17:34:16.5060 

2025-01-08T17:34:17.665Z,1736357657.665 [DAT](INFO): Rx dataTimestamp_ set to:1736357657.665023
2025-01-08T17:34:17.667Z,1736357657.667 [DAT](INFO): DAT read: Range 10 to 50 :    31.2 m (trip time 20.8 ms) speed 0.0

2025-01-08T17:34:17.669Z,1736357657.669 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:17.670Z,1736357657.670 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:17.670Z,1736357657.670 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:17.916Z,1736357657.916 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:17.916Z,1736357657.916 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:17.917Z,1736357657.917 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:18.002Z,1736357658.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:18.011Z,1736357658.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.200001 m,
      deltaT: 0.504203 s,
      deltaX: 0.100000 m,
      approachRate: 0.198334 m/s,
      rangeRepo size: 4

2025-01-08T17:34:18.012Z,1736357658.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:18.177Z,1736357658.177 [DAT](INFO): DAT read: Rx Time:17:34:17.0060 

2025-01-08T17:34:18.177Z,1736357658.177 [DAT](INFO): Rx dataTimestamp_ set to:1736357658.177136
2025-01-08T17:34:18.179Z,1736357658.179 [DAT](INFO): DAT read: Range 10 to 50 :    31.2 m (trip time 20.8 ms) speed 0.1

2025-01-08T17:34:18.180Z,1736357658.180 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:18.181Z,1736357658.181 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:18.181Z,1736357658.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:18.316Z,1736357658.316 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:34:18.414Z,1736357658.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:18.420Z,1736357658.420 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:18.420Z,1736357658.420 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:18.420Z,1736357658.420 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:18.428Z,1736357658.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.200001 m,
      deltaT: 0.512113 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:34:18.429Z,1736357658.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:18.673Z,1736357658.673 [DAT](INFO): DAT read: Rx Time:17:34:17.5060 

2025-01-08T17:34:18.674Z,1736357658.674 [DAT](INFO): Rx dataTimestamp_ set to:1736357658.673307
2025-01-08T17:34:18.677Z,1736357658.677 [DAT](INFO): DAT read: Range 10 to 50 :    31.2 m (trip time 20.8 ms) speed 0.0

2025-01-08T17:34:18.678Z,1736357658.678 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:18.679Z,1736357658.679 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:18.679Z,1736357658.679 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:18.866Z,1736357658.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:18.876Z,1736357658.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.200001 m,
      deltaT: 0.496171 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:34:18.877Z,1736357658.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:18.924Z,1736357658.924 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:18.924Z,1736357658.924 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:18.924Z,1736357658.924 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:19.176Z,1736357659.176 [DAT](INFO): DAT read: Rx Time:17:34:18.0058 

2025-01-08T17:34:19.177Z,1736357659.177 [DAT](INFO): Rx dataTimestamp_ set to:1736357659.176609
2025-01-08T17:34:19.178Z,1736357659.178 [DAT](INFO): DAT read: Range 10 to 50 :    30.9 m (trip time 20.6 ms) speed 0.0

2025-01-08T17:34:19.179Z,1736357659.179 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:19.183Z,1736357659.183 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:19.183Z,1736357659.183 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:19.280Z,1736357659.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:19.304Z,1736357659.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.900000 m,
      deltaT: 0.503302 s,
      deltaX: -0.300001 m,
      approachRate: -0.596066 m/s,
      rangeRepo size: 4

2025-01-08T17:34:19.304Z,1736357659.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:19.320Z,1736357659.320 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:34:19.428Z,1736357659.428 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:19.428Z,1736357659.428 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:19.428Z,1736357659.428 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:19.681Z,1736357659.681 [DAT](INFO): DAT read: Rx Time:17:34:18.5059 

2025-01-08T17:34:19.682Z,1736357659.682 [DAT](INFO): Rx dataTimestamp_ set to:1736357659.681501
2025-01-08T17:34:19.686Z,1736357659.686 [DAT](INFO): DAT read: Range 10 to 50 :    31.1 m (trip time 20.7 ms) speed 0.0

2025-01-08T17:34:19.687Z,1736357659.687 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:19.688Z,1736357659.688 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:19.688Z,1736357659.688 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:19.783Z,1736357659.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:19.793Z,1736357659.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.100000 m,
      deltaT: 0.504892 s,
      deltaX: 0.200001 m,
      approachRate: 0.396126 m/s,
      rangeRepo size: 4

2025-01-08T17:34:19.794Z,1736357659.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:19.934Z,1736357659.934 [DAT](INFO): Reached modem response timeout
2025-01-08T17:34:19.934Z,1736357659.934 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:34:19.935Z,1736357659.935 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:20.184Z,1736357660.184 [DAT](INFO): DAT read: user:253>

2025-01-08T17:34:20.185Z,1736357660.185 [DAT](INFO): DAT read: Command 'r50' not found

2025-01-08T17:34:20.186Z,1736357660.186 [DAT](INFO): unknown deviceResponse_: Command 'r50' not found

2025-01-08T17:34:20.186Z,1736357660.186 [DAT](INFO): DAT read: Error

2025-01-08T17:34:20.186Z,1736357660.186 [DAT](INFO): unknown deviceResponse_: Error

2025-01-08T17:34:20.187Z,1736357660.187 [DAT](INFO): DAT read: user:254>

2025-01-08T17:34:20.190Z,1736357660.190 [DAT](INFO): DAT read: Tx time:17:34:19.4908

2025-01-08T17:34:20.190Z,1736357660.190 [DAT](INFO): Ping request sent.
2025-01-08T17:34:20.190Z,1736357660.190 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:34:20.191Z,1736357660.191 [DAT](INFO): publishing transmit ping time
2025-01-08T17:34:20.191Z,1736357660.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000878
2025-01-08T17:34:20.212Z,1736357660.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:20.220Z,1736357660.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:20.439Z,1736357660.439 [DAT](INFO): DAT read: TxSync time:17:34:19.4900

2025-01-08T17:34:20.440Z,1736357660.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249219
2025-01-08T17:34:20.689Z,1736357660.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498515
2025-01-08T17:34:20.722Z,1736357660.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:20.740Z,1736357660.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:20.941Z,1736357660.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750448
2025-01-08T17:34:21.138Z,1736357661.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:21.146Z,1736357661.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:21.192Z,1736357661.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001875
2025-01-08T17:34:21.444Z,1736357661.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253719
2025-01-08T17:34:21.550Z,1736357661.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:21.572Z,1736357661.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:21.697Z,1736357661.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506557
2025-01-08T17:34:21.948Z,1736357661.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757751
2025-01-08T17:34:22.026Z,1736357662.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:22.036Z,1736357662.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:22.201Z,1736357662.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010427
2025-01-08T17:34:22.413Z,1736357662.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:22.422Z,1736357662.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:22.455Z,1736357662.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263430
2025-01-08T17:34:22.705Z,1736357662.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514734
2025-01-08T17:34:22.882Z,1736357662.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:22.892Z,1736357662.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:22.957Z,1736357662.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766411
2025-01-08T17:34:23.210Z,1736357663.210 [DAT](INFO): DAT read: Rx Time:17:34:21.9363

2025-01-08T17:34:23.212Z,1736357663.212 [DAT](INFO): Rx dataTimestamp_ set to:1736357663.210396
2025-01-08T17:34:23.213Z,1736357663.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022204
2025-01-08T17:34:23.287Z,1736357663.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:23.299Z,1736357663.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:23.460Z,1736357663.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269705
2025-01-08T17:34:23.713Z,1736357663.713 [DAT](INFO): DAT read: Range 10 to 50 : 31.0 m  (Round-trip  41.4 ms) speed -0.1 m/s

2025-01-08T17:34:23.714Z,1736357663.714 [DAT](INFO): DAT read: user:255>

2025-01-08T17:34:23.715Z,1736357663.715 [DAT](INFO): DAT read: Tx time:17:34:23.0393

2025-01-08T17:34:23.720Z,1736357663.720 [DAT](INFO): Ping request sent.
2025-01-08T17:34:23.720Z,1736357663.720 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:34:23.721Z,1736357663.721 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:23.721Z,1736357663.721 [DAT](INFO): publishing transmit ping time
2025-01-08T17:34:23.721Z,1736357663.721 [DAT](INFO): publishing transmit ping time
2025-01-08T17:34:23.729Z,1736357663.729 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  +105,  -15,A
2025-01-08T17:34:23.753Z,1736357663.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-08T17:34:23.753Z,1736357663.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:23.776Z,1736357663.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.000000 m,
      deltaT: 4.030336 s,
      deltaX: -0.100000 m,
      approachRate: -0.024812 m/s,
      rangeRepo size: 4

2025-01-08T17:34:23.776Z,1736357663.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:23.965Z,1736357663.965 [DAT](INFO): DAT read: TxSync time:17:34:23.0385

2025-01-08T17:34:24.169Z,1736357664.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-08T17:34:24.169Z,1736357664.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:24.180Z,1736357664.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:24.580Z,1736357664.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s.
2025-01-08T17:34:24.580Z,1736357664.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:24.597Z,1736357664.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:25.079Z,1736357665.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:25.089Z,1736357665.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:25.490Z,1736357665.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:25.499Z,1736357665.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:25.916Z,1736357665.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:25.925Z,1736357665.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:26.310Z,1736357666.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:26.318Z,1736357666.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:26.737Z,1736357666.737 [DAT](INFO): DAT read: Rx Time:17:34:25.4852

2025-01-08T17:34:26.737Z,1736357666.737 [DAT](INFO): Rx dataTimestamp_ set to:1736357666.736882
2025-01-08T17:34:26.809Z,1736357666.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:26.820Z,1736357666.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:27.220Z,1736357667.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:27.232Z,1736357667.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:27.241Z,1736357667.241 [DAT](INFO): DAT read: Range 10 to 50 : 31.2 m  (Round-trip  41.7 ms) speed -0.2 m/s

2025-01-08T17:34:27.242Z,1736357667.242 [DAT](INFO): DAT read: user:256>

2025-01-08T17:34:27.243Z,1736357667.243 [DAT](INFO): DAT read: Tx time:17:34:26.5893

2025-01-08T17:34:27.244Z,1736357667.244 [DAT](INFO): Ping request sent.
2025-01-08T17:34:27.244Z,1736357667.244 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:34:27.245Z,1736357667.245 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-01-08T17:34:27.245Z,1736357667.245 [DAT](INFO): publishing transmit ping time
2025-01-08T17:34:27.245Z,1736357667.245 [DAT](INFO): publishing transmit ping time
2025-01-08T17:34:27.493Z,1736357667.493 [DAT](INFO): DAT read: TxSync time:17:34:26.5885

2025-01-08T17:34:27.621Z,1736357667.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:27.677Z,1736357667.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.200001 m,
      deltaT: 3.527930 s,
      deltaX: 0.200001 m,
      approachRate: 0.056691 m/s,
      rangeRepo size: 4

2025-01-08T17:34:27.685Z,1736357667.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:28.149Z,1736357668.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:28.158Z,1736357668.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:28.551Z,1736357668.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:28.560Z,1736357668.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:28.994Z,1736357668.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:29.020Z,1736357669.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:29.358Z,1736357669.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:29.367Z,1736357669.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:29.802Z,1736357669.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:29.811Z,1736357669.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:30.189Z,1736357670.189 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:30.197Z,1736357670.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:30.269Z,1736357670.269 [DAT](INFO): DAT read: Rx Time:17:34:29.0360

2025-01-08T17:34:30.269Z,1736357670.269 [DAT](INFO): Rx dataTimestamp_ set to:1736357670.268947
2025-01-08T17:34:30.594Z,1736357670.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:30.603Z,1736357670.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:30.779Z,1736357670.779 [DAT](INFO): DAT read: Range 10 to 50 : 31.8 m  (Round-trip  42.5 ms) speed -0.1 m/s

2025-01-08T17:34:30.780Z,1736357670.780 [DAT](INFO): DAT read: user:257>

2025-01-08T17:34:30.781Z,1736357670.781 [DAT](INFO): DAT read: Tx time:17:34:30.1393

2025-01-08T17:34:30.781Z,1736357670.781 [DAT](INFO): Ping request sent.
2025-01-08T17:34:30.781Z,1736357670.781 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:34:30.781Z,1736357670.781 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-01-08T17:34:30.781Z,1736357670.781 [DAT](INFO): publishing transmit ping time
2025-01-08T17:34:30.782Z,1736357670.782 [DAT](INFO): publishing transmit ping time
2025-01-08T17:34:31.028Z,1736357671.028 [DAT](INFO): DAT read: TxSync time:17:34:30.1385

2025-01-08T17:34:31.039Z,1736357671.039 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:31.048Z,1736357671.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.799999 m,
      deltaT: 3.536218 s,
      deltaX: 0.599998 m,
      approachRate: 0.169672 m/s,
      rangeRepo size: 4

2025-01-08T17:34:31.049Z,1736357671.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:31.478Z,1736357671.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:31.487Z,1736357671.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:31.934Z,1736357671.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:31.943Z,1736357671.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:32.321Z,1736357672.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:32.365Z,1736357672.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:32.876Z,1736357672.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:32.893Z,1736357672.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:33.211Z,1736357673.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:33.222Z,1736357673.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:33.621Z,1736357673.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:33.630Z,1736357673.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:33.807Z,1736357673.807 [DAT](INFO): DAT read: Rx Time:17:34:32.5863

2025-01-08T17:34:33.808Z,1736357673.808 [DAT](INFO): Rx dataTimestamp_ set to:1736357673.807389
2025-01-08T17:34:34.051Z,1736357674.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:34.077Z,1736357674.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:34.311Z,1736357674.311 [DAT](INFO): DAT read: Range 10 to 50 : 32.1 m  (Round-trip  42.8 ms) speed  0.0 m/s

2025-01-08T17:34:34.312Z,1736357674.312 [DAT](INFO): DAT read: user:258>

2025-01-08T17:34:34.313Z,1736357674.313 [DAT](INFO): DAT read: Tx time:17:34:33.6894

2025-01-08T17:34:34.313Z,1736357674.313 [DAT](INFO): Ping request sent.
2025-01-08T17:34:34.313Z,1736357674.313 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:34:34.313Z,1736357674.313 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-01-08T17:34:34.313Z,1736357674.313 [DAT](INFO): publishing transmit ping time
2025-01-08T17:34:34.314Z,1736357674.314 [DAT](INFO): publishing transmit ping time
2025-01-08T17:34:34.522Z,1736357674.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:34.547Z,1736357674.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.099998 m,
      deltaT: 3.533489 s,
      deltaX: 0.299999 m,
      approachRate: 0.084902 m/s,
      rangeRepo size: 4

2025-01-08T17:34:34.547Z,1736357674.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:34.561Z,1736357674.561 [DAT](INFO): DAT read: TxSync time:17:34:33.6886

2025-01-08T17:34:34.964Z,1736357674.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:34.974Z,1736357674.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:35.373Z,1736357675.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:35.458Z,1736357675.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:35.909Z,1736357675.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:35.919Z,1736357675.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:36.318Z,1736357676.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:36.328Z,1736357676.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:36.743Z,1736357676.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:36.754Z,1736357676.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:37.174Z,1736357677.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:37.184Z,1736357677.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:37.188Z,1736357677.188 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T17:24:37.1Z
2025-01-08T17:34:37.188Z,1736357677.188 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-01-08T17:34:37.189Z,1736357677.189 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-01-08T17:34:37.189Z,1736357677.189 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-01-08T17:34:37.189Z,1736357677.189 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-01-08T17:34:37.189Z,1736357677.189 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-01-08T17:34:37.332Z,1736357677.332 [DAT](INFO): DAT read: Rx Time:17:34:36.1366

2025-01-08T17:34:37.333Z,1736357677.333 [DAT](INFO): Rx dataTimestamp_ set to:1736357677.332731
2025-01-08T17:34:37.548Z,1736357677.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:37.558Z,1736357677.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:37.566Z,1736357677.566 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-01-08T17:34:37.566Z,1736357677.566 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-01-08T17:34:37.567Z,1736357677.567 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-01-08T17:34:37.567Z,1736357677.567 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-01-08T17:34:37.568Z,1736357677.568 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-01-08T17:34:37.842Z,1736357677.842 [DAT](INFO): DAT read: Range 10 to 50 : 32.2 m  (Round-trip  43.0 ms) speed  0.1 m/s

2025-01-08T17:34:37.851Z,1736357677.851 [DAT](INFO): DAT read: user:259>

2025-01-08T17:34:37.859Z,1736357677.859 [DAT](INFO): DAT read: Tx time:17:34:37.2394

2025-01-08T17:34:37.884Z,1736357677.884 [DAT](INFO): Ping request sent.
2025-01-08T17:34:37.884Z,1736357677.884 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:34:37.884Z,1736357677.884 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-01-08T17:34:37.884Z,1736357677.884 [DAT](INFO): publishing transmit ping time
2025-01-08T17:34:37.885Z,1736357677.885 [DAT](INFO): publishing transmit ping time
2025-01-08T17:34:38.089Z,1736357678.089 [DAT](INFO): DAT read: TxSync time:17:34:37.2386

2025-01-08T17:34:38.227Z,1736357678.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:38.235Z,1736357678.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:34:38.238Z,1736357678.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.200001 m,
      deltaT: 3.527799 s,
      deltaX: 0.100002 m,
      approachRate: 0.028347 m/s,
      rangeRepo size: 4

2025-01-08T17:34:38.238Z,1736357678.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:38.340Z,1736357678.340 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:34:38.340Z,1736357678.340 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:34:38.340Z,1736357678.340 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:38.592Z,1736357678.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.708465
2025-01-08T17:34:38.597Z,1736357678.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:38.606Z,1736357678.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:38.848Z,1736357678.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.963000
2025-01-08T17:34:39.023Z,1736357679.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:39.032Z,1736357679.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:39.096Z,1736357679.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.212513
2025-01-08T17:34:39.348Z,1736357679.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.464373
2025-01-08T17:34:39.402Z,1736357679.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:39.410Z,1736357679.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:39.602Z,1736357679.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717669
2025-01-08T17:34:39.804Z,1736357679.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:39.817Z,1736357679.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:39.855Z,1736357679.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971105
2025-01-08T17:34:40.104Z,1736357680.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220397
2025-01-08T17:34:40.237Z,1736357680.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:40.272Z,1736357680.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:40.356Z,1736357680.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472463
2025-01-08T17:34:40.609Z,1736357680.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725431
2025-01-08T17:34:40.668Z,1736357680.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:40.705Z,1736357680.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:40.863Z,1736357680.863 [DAT](INFO): DAT read: Rx Time:17:34:39.6865

2025-01-08T17:34:40.865Z,1736357680.865 [DAT](INFO): Rx dataTimestamp_ set to:1736357680.864054
2025-01-08T17:34:40.868Z,1736357680.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983576
2025-01-08T17:34:41.112Z,1736357681.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228466
2025-01-08T17:34:41.128Z,1736357681.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:41.137Z,1736357681.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:41.369Z,1736357681.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484419
2025-01-08T17:34:41.578Z,1736357681.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:41.586Z,1736357681.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:41.617Z,1736357681.617 [DAT](INFO): DAT read: Range 10 to 50 : 32.1 m  (Round-trip  42.9 ms) speed -0.1 m/s

2025-01-08T17:34:41.618Z,1736357681.618 [DAT](INFO): DAT read: user:260>

2025-01-08T17:34:41.619Z,1736357681.619 [DAT](INFO): DAT read: Tx ti:40.7894

2025-01-08T17:34:41.620Z,1736357681.620 [DAT](INFO): unknown deviceResponse_: Tx ti:40.7894

2025-01-08T17:34:41.621Z,1736357681.621 [DAT](INFO): DAT read: TxSync time:17:34:40.7886

2025-01-08T17:34:41.621Z,1736357681.621 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:41.622Z,1736357681.622 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:34:41.622Z,1736357681.622 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:34:41.622Z,1736357681.622 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:34:41.871Z,1736357681.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.986647
2025-01-08T17:34:41.988Z,1736357681.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:42.012Z,1736357682.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.099998 m,
      deltaT: 3.778540 s,
      deltaX: -0.100002 m,
      approachRate: -0.026466 m/s,
      rangeRepo size: 4

2025-01-08T17:34:42.013Z,1736357682.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:42.120Z,1736357682.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.236444
2025-01-08T17:34:42.373Z,1736357682.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.488805
2025-01-08T17:34:42.411Z,1736357682.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:42.434Z,1736357682.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:42.625Z,1736357682.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.741163
2025-01-08T17:34:42.831Z,1736357682.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:42.860Z,1736357682.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:42.876Z,1736357682.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.992570
2025-01-08T17:34:43.128Z,1736357683.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.244370
2025-01-08T17:34:43.250Z,1736357683.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:43.259Z,1736357683.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:43.381Z,1736357683.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.496693
2025-01-08T17:34:43.634Z,1736357683.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.749938
2025-01-08T17:34:43.704Z,1736357683.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:43.714Z,1736357683.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:43.884Z,1736357683.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.000583
2025-01-08T17:34:44.136Z,1736357684.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.252658
2025-01-08T17:34:44.141Z,1736357684.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:44.151Z,1736357684.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:44.389Z,1736357684.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.504696
2025-01-08T17:34:44.536Z,1736357684.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:44.545Z,1736357684.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:44.640Z,1736357684.640 [DAT](INFO): DAT read: Rx Time:17:34:43.2371

2025-01-08T17:34:44.641Z,1736357684.641 [DAT](INFO): Rx dataTimestamp_ set to:1736357684.640545
2025-01-08T17:34:44.641Z,1736357684.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.757533
2025-01-08T17:34:44.892Z,1736357684.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.008418
2025-01-08T17:34:45.053Z,1736357685.053 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:45.062Z,1736357685.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:45.145Z,1736357685.145 [DAT](INFO): DAT read: Range 10 to 50 : 32.6 m  (Round-trip  43.5 ms) speed -0.1 m/s

2025-01-08T17:34:45.146Z,1736357685.146 [DAT](INFO): DAT read: user:261>

2025-01-08T17:34:45.147Z,1736357685.147 [DAT](INFO): DAT read: Tx time:17:34:44.3394

2025-01-08T17:34:45.147Z,1736357685.147 [DAT](INFO): Ping request sent.
2025-01-08T17:34:45.147Z,1736357685.147 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:34:45.148Z,1736357685.148 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:34:45.148Z,1736357685.148 [DAT](INFO): publishing transmit ping time
2025-01-08T17:34:45.148Z,1736357685.148 [DAT](INFO): publishing transmit ping time
2025-01-08T17:34:45.397Z,1736357685.397 [DAT](INFO): DAT read: TxSync time:17:34:44.3386

2025-01-08T17:34:45.445Z,1736357685.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:45.456Z,1736357685.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.599998 m,
      deltaT: 3.527996 s,
      deltaX: 0.500000 m,
      approachRate: 0.141724 m/s,
      rangeRepo size: 4

2025-01-08T17:34:45.456Z,1736357685.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:45.846Z,1736357685.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:45.855Z,1736357685.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:46.273Z,1736357686.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:46.282Z,1736357686.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:46.646Z,1736357686.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:46.659Z,1736357686.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:47.078Z,1736357687.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:47.111Z,1736357687.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:47.490Z,1736357687.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:47.499Z,1736357687.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:47.901Z,1736357687.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:47.910Z,1736357687.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:48.170Z,1736357688.170 [DAT](INFO): DAT read: Rx Time:17:34:46.7875

2025-01-08T17:34:48.170Z,1736357688.170 [DAT](INFO): Rx dataTimestamp_ set to:1736357688.169846
2025-01-08T17:34:48.331Z,1736357688.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:48.341Z,1736357688.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:48.675Z,1736357688.675 [DAT](INFO): DAT read: Range 10 to 50 : 33.0 m  (Round-trip  44.0 ms) speed -0.1 m/s

2025-01-08T17:34:48.676Z,1736357688.676 [DAT](INFO): DAT read: user:262>

2025-01-08T17:34:48.677Z,1736357688.677 [DAT](INFO): DAT read: Tx time:17:34:47.8894

2025-01-08T17:34:48.677Z,1736357688.677 [DAT](INFO): Ping request sent.
2025-01-08T17:34:48.678Z,1736357688.678 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:34:48.678Z,1736357688.678 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-01-08T17:34:48.678Z,1736357688.678 [DAT](INFO): publishing transmit ping time
2025-01-08T17:34:48.679Z,1736357688.679 [DAT](INFO): publishing transmit ping time
2025-01-08T17:34:48.765Z,1736357688.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:48.792Z,1736357688.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.000000 m,
      deltaT: 3.528776 s,
      deltaX: 0.400002 m,
      approachRate: 0.113354 m/s,
      rangeRepo size: 4

2025-01-08T17:34:48.792Z,1736357688.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:48.924Z,1736357688.924 [DAT](INFO): DAT read: TxSync time:17:34:47.8886

2025-01-08T17:34:49.215Z,1736357689.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:49.225Z,1736357689.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:49.441Z,1736357689.441 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:34:49.628Z,1736357689.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:49.636Z,1736357689.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:50.104Z,1736357690.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:50.120Z,1736357690.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:50.444Z,1736357690.444 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:34:50.540Z,1736357690.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:50.548Z,1736357690.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:50.958Z,1736357690.958 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:50.984Z,1736357690.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:51.459Z,1736357691.459 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:51.490Z,1736357691.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:51.697Z,1736357691.697 [DAT](INFO): DAT read: Rx Time:17:34:50.3378

2025-01-08T17:34:51.698Z,1736357691.698 [DAT](INFO): Rx dataTimestamp_ set to:1736357691.697565
2025-01-08T17:34:51.950Z,1736357691.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:51.971Z,1736357691.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:52.202Z,1736357692.202 [DAT](INFO): DAT read: Range 10 to 50 : 33.1 m  (Round-trip  44.2 ms) speed  0.1 m/s

2025-01-08T17:34:52.203Z,1736357692.203 [DAT](INFO): DAT read: user:263>

2025-01-08T17:34:52.205Z,1736357692.205 [DAT](INFO): DAT read: Tx time:17:34:51.4395

2025-01-08T17:34:52.206Z,1736357692.206 [DAT](INFO): Ping request sent.
2025-01-08T17:34:52.206Z,1736357692.206 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:34:52.206Z,1736357692.206 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-01-08T17:34:52.206Z,1736357692.206 [DAT](INFO): publishing transmit ping time
2025-01-08T17:34:52.207Z,1736357692.207 [DAT](INFO): publishing transmit ping time
2025-01-08T17:34:52.407Z,1736357692.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:52.418Z,1736357692.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.099998 m,
      deltaT: 3.527508 s,
      deltaX: 0.099998 m,
      approachRate: 0.028348 m/s,
      rangeRepo size: 4

2025-01-08T17:34:52.418Z,1736357692.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:52.457Z,1736357692.457 [DAT](INFO): DAT read: TxSync time:17:34:51.4387

2025-01-08T17:34:52.808Z,1736357692.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:52.834Z,1736357692.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:53.266Z,1736357693.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:53.275Z,1736357693.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:53.727Z,1736357693.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:53.739Z,1736357693.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:54.151Z,1736357694.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:54.160Z,1736357694.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:54.555Z,1736357694.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:54.563Z,1736357694.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:55.006Z,1736357695.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:55.041Z,1736357695.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:55.224Z,1736357695.224 [DAT](INFO): DAT read: Rx Time:17:34:53.8878

2025-01-08T17:34:55.225Z,1736357695.225 [DAT](INFO): Rx dataTimestamp_ set to:1736357695.224530
2025-01-08T17:34:55.524Z,1736357695.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:55.534Z,1736357695.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:55.730Z,1736357695.730 [DAT](INFO): DAT read: Range 10 to 50 : 33.1 m  (Round-trip  44.2 ms) speed  0.0 m/s

2025-01-08T17:34:55.735Z,1736357695.735 [DAT](INFO): DAT read: user:264>

2025-01-08T17:34:55.736Z,1736357695.736 [DAT](INFO): DAT read: Tx time:17:34:54.9895

2025-01-08T17:34:55.736Z,1736357695.736 [DAT](INFO): Ping request sent.
2025-01-08T17:34:55.736Z,1736357695.736 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:34:55.737Z,1736357695.737 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-01-08T17:34:55.737Z,1736357695.737 [DAT](INFO): publishing transmit ping time
2025-01-08T17:34:55.738Z,1736357695.738 [DAT](INFO): publishing transmit ping time
2025-01-08T17:34:55.925Z,1736357695.925 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:55.935Z,1736357695.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.099998 m,
      deltaT: 3.528048 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:34:55.936Z,1736357695.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:55.980Z,1736357695.980 [DAT](INFO): DAT read: TxSync time:17:34:54.9887

2025-01-08T17:34:56.352Z,1736357696.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:56.361Z,1736357696.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:56.734Z,1736357696.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:56.743Z,1736357696.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:57.217Z,1736357697.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:57.226Z,1736357697.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:57.618Z,1736357697.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:57.627Z,1736357697.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:58.016Z,1736357698.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:58.045Z,1736357698.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:58.451Z,1736357698.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:58.459Z,1736357698.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:58.752Z,1736357698.752 [DAT](INFO): DAT read: Rx Time:17:34:57.4380

2025-01-08T17:34:58.753Z,1736357698.753 [DAT](INFO): Rx dataTimestamp_ set to:1736357698.752538
2025-01-08T17:34:58.846Z,1736357698.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:58.854Z,1736357698.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:59.257Z,1736357699.257 [DAT](INFO): DAT read: Range 10 to 50 : 33.3 m  (Round-trip  44.4 ms) speed  0.0 m/s

2025-01-08T17:34:59.258Z,1736357699.258 [DAT](INFO): DAT read: user:265>

2025-01-08T17:34:59.259Z,1736357699.259 [DAT](INFO): DAT read: Tx time:17:34:58.5395

2025-01-08T17:34:59.259Z,1736357699.259 [DAT](INFO): Ping request sent.
2025-01-08T17:34:59.259Z,1736357699.259 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:34:59.259Z,1736357699.259 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-01-08T17:34:59.260Z,1736357699.260 [DAT](INFO): publishing transmit ping time
2025-01-08T17:34:59.260Z,1736357699.260 [DAT](INFO): publishing transmit ping time
2025-01-08T17:34:59.267Z,1736357699.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:59.297Z,1736357699.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.299999 m,
      deltaT: 3.527570 s,
      deltaX: 0.200001 m,
      approachRate: 0.056696 m/s,
      rangeRepo size: 4

2025-01-08T17:34:59.297Z,1736357699.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:34:59.508Z,1736357699.508 [DAT](INFO): DAT read: TxSync time:17:34:58.5387

2025-01-08T17:34:59.690Z,1736357699.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:34:59.705Z,1736357699.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:00.101Z,1736357700.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:00.113Z,1736357700.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:00.525Z,1736357700.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:00.535Z,1736357700.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:00.915Z,1736357700.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:00.940Z,1736357700.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:01.356Z,1736357701.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:01.365Z,1736357701.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:01.742Z,1736357701.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:01.751Z,1736357701.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:02.207Z,1736357702.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:02.244Z,1736357702.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:02.288Z,1736357702.288 [DAT](INFO): DAT read: Rx Time:17:35:00.9888

2025-01-08T17:35:02.289Z,1736357702.289 [DAT](INFO): Rx dataTimestamp_ set to:1736357702.288675
2025-01-08T17:35:02.669Z,1736357702.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:02.687Z,1736357702.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:02.793Z,1736357702.793 [DAT](INFO): DAT read: Range 10 to 50 : 33.8 m  (Round-trip  45.1 ms) speed -0.1 m/s

2025-01-08T17:35:02.794Z,1736357702.794 [DAT](INFO): DAT read: user:266>

2025-01-08T17:35:02.795Z,1736357702.795 [DAT](INFO): DAT read: Tx time:17:35:02.0896

2025-01-08T17:35:02.795Z,1736357702.795 [DAT](INFO): Ping request sent.
2025-01-08T17:35:02.795Z,1736357702.795 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:35:02.795Z,1736357702.795 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-01-08T17:35:02.796Z,1736357702.796 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:02.796Z,1736357702.796 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:03.049Z,1736357703.049 [DAT](INFO): DAT read: TxSync time:17:35:02.0888

2025-01-08T17:35:03.129Z,1736357703.129 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:03.139Z,1736357703.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.799999 m,
      deltaT: 3.535988 s,
      deltaX: 0.500000 m,
      approachRate: 0.141403 m/s,
      rangeRepo size: 4

2025-01-08T17:35:03.140Z,1736357703.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:03.538Z,1736357703.538 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:03.573Z,1736357703.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:03.973Z,1736357703.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:03.986Z,1736357703.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:04.411Z,1736357704.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:04.420Z,1736357704.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:04.790Z,1736357704.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:04.799Z,1736357704.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:05.198Z,1736357705.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:05.210Z,1736357705.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:05.718Z,1736357705.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:05.727Z,1736357705.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:05.820Z,1736357705.820 [DAT](INFO): DAT read: Rx Time:17:35:04.5391

2025-01-08T17:35:05.821Z,1736357705.821 [DAT](INFO): Rx dataTimestamp_ set to:1736357705.820526
2025-01-08T17:35:06.106Z,1736357706.106 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:06.115Z,1736357706.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:06.325Z,1736357706.325 [DAT](INFO): DAT read: Range 10 to 50 : 34.0 m  (Round-trip  45.4 ms) speed -0.2 m/s

2025-01-08T17:35:06.326Z,1736357706.326 [DAT](INFO): DAT read: user:267>

2025-01-08T17:35:06.327Z,1736357706.327 [DAT](INFO): DAT read: Tx time:17:35:05.6396

2025-01-08T17:35:06.327Z,1736357706.327 [DAT](INFO): Ping request sent.
2025-01-08T17:35:06.327Z,1736357706.327 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:35:06.328Z,1736357706.328 [DAT](ERROR): #Rx 7: Read range message, but no direction.
2025-01-08T17:35:06.328Z,1736357706.328 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:06.328Z,1736357706.328 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:06.537Z,1736357706.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:06.547Z,1736357706.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.000000 m,
      deltaT: 3.532018 s,
      deltaX: 0.200001 m,
      approachRate: 0.056625 m/s,
      rangeRepo size: 4

2025-01-08T17:35:06.567Z,1736357706.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:06.576Z,1736357706.576 [DAT](INFO): DAT read: TxSync time:17:35:05.6388

2025-01-08T17:35:06.913Z,1736357706.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:06.921Z,1736357706.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:07.377Z,1736357707.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:07.387Z,1736357707.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:07.723Z,1736357707.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:07.742Z,1736357707.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:08.140Z,1736357708.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:08.163Z,1736357708.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:08.550Z,1736357708.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:08.559Z,1736357708.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:08.940Z,1736357708.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:08.949Z,1736357708.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:09.349Z,1736357709.349 [DAT](INFO): DAT read: Rx Time:17:35:08.0892

2025-01-08T17:35:09.349Z,1736357709.349 [DAT](INFO): Rx dataTimestamp_ set to:1736357709.348791
2025-01-08T17:35:09.387Z,1736357709.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:09.420Z,1736357709.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:09.741Z,1736357709.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:09.751Z,1736357709.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:09.854Z,1736357709.854 [DAT](INFO): DAT read: Range 10 to 50 : 34.1 m  (Round-trip  45.5 ms) speed  0.0 m/s

2025-01-08T17:35:09.854Z,1736357709.854 [DAT](INFO): DAT read: user:268>

2025-01-08T17:35:09.855Z,1736357709.855 [DAT](INFO): DAT read: Tx time:17:35:09.1896

2025-01-08T17:35:09.856Z,1736357709.856 [DAT](INFO): Ping request sent.
2025-01-08T17:35:09.856Z,1736357709.856 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:35:09.856Z,1736357709.856 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-01-08T17:35:09.856Z,1736357709.856 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:09.857Z,1736357709.857 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:10.104Z,1736357710.104 [DAT](INFO): DAT read: TxSync time:17:35:09.1888

2025-01-08T17:35:10.172Z,1736357710.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:10.182Z,1736357710.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.099998 m,
      deltaT: 3.528377 s,
      deltaX: 0.099998 m,
      approachRate: 0.028341 m/s,
      rangeRepo size: 4

2025-01-08T17:35:10.183Z,1736357710.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:10.581Z,1736357710.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:10.592Z,1736357710.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:10.969Z,1736357710.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:10.978Z,1736357710.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:11.421Z,1736357711.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:11.471Z,1736357711.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:11.760Z,1736357711.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:11.785Z,1736357711.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:12.171Z,1736357712.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:12.195Z,1736357712.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:12.593Z,1736357712.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:12.627Z,1736357712.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:12.877Z,1736357712.877 [DAT](INFO): DAT read: Rx Time:17:35:11.6394

2025-01-08T17:35:12.877Z,1736357712.877 [DAT](INFO): Rx dataTimestamp_ set to:1736357712.876933
2025-01-08T17:35:12.996Z,1736357712.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:13.004Z,1736357713.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:13.386Z,1736357713.386 [DAT](INFO): DAT read: Range 10 to 50 : 34.2 m  (Round-trip  45.7 ms) speed -0.2 m/s

2025-01-08T17:35:13.389Z,1736357713.389 [DAT](INFO): DAT read: user:269>

2025-01-08T17:35:13.392Z,1736357713.392 [DAT](INFO): DAT read: Tx time:17:35:12.7397

2025-01-08T17:35:13.393Z,1736357713.393 [DAT](INFO): Ping request sent.
2025-01-08T17:35:13.393Z,1736357713.393 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:35:13.394Z,1736357713.394 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-01-08T17:35:13.395Z,1736357713.395 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:13.408Z,1736357713.408 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:13.502Z,1736357713.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:13.524Z,1736357713.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.200001 m,
      deltaT: 3.529161 s,
      deltaX: 0.100002 m,
      approachRate: 0.028336 m/s,
      rangeRepo size: 4

2025-01-08T17:35:13.525Z,1736357713.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:13.633Z,1736357713.633 [DAT](INFO): DAT read: TxSync time:17:35:12.7389

2025-01-08T17:35:13.787Z,1736357713.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:13.796Z,1736357713.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:14.201Z,1736357714.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:14.210Z,1736357714.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:14.617Z,1736357714.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:14.627Z,1736357714.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:15.010Z,1736357715.010 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:15.034Z,1736357715.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:15.469Z,1736357715.469 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:15.478Z,1736357715.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:15.887Z,1736357715.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:15.896Z,1736357715.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:16.293Z,1736357716.293 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:16.303Z,1736357716.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:16.408Z,1736357716.408 [DAT](INFO): DAT read: Rx Time:17:35:15.1901

2025-01-08T17:35:16.410Z,1736357716.410 [DAT](INFO): Rx dataTimestamp_ set to:1736357716.408343
2025-01-08T17:35:16.752Z,1736357716.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:16.761Z,1736357716.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:16.910Z,1736357716.910 [DAT](INFO): DAT read: Range 10 to 50 : 34.6 m  (Round-trip  46.2 ms) speed  0.0 m/s

2025-01-08T17:35:16.910Z,1736357716.910 [DAT](INFO): DAT read: user:270>

2025-01-08T17:35:16.912Z,1736357716.912 [DAT](INFO): DAT read: Tx time:17:35:16.2897

2025-01-08T17:35:16.912Z,1736357716.912 [DAT](INFO): Ping request sent.
2025-01-08T17:35:16.912Z,1736357716.912 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:35:16.913Z,1736357716.913 [DAT](ERROR): #Rx 10: Read range message, but no direction.
2025-01-08T17:35:16.913Z,1736357716.913 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:16.913Z,1736357716.913 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:17.117Z,1736357717.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:17.138Z,1736357717.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.599998 m,
      deltaT: 3.526850 s,
      deltaX: 0.399998 m,
      approachRate: 0.113415 m/s,
      rangeRepo size: 4

2025-01-08T17:35:17.140Z,1736357717.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:17.160Z,1736357717.160 [DAT](INFO): DAT read: TxSync time:17:35:16.2889

2025-01-08T17:35:17.588Z,1736357717.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:17.597Z,1736357717.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:17.968Z,1736357717.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:17.977Z,1736357717.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:18.374Z,1736357718.374 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:18.387Z,1736357718.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:18.819Z,1736357718.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:18.843Z,1736357718.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:19.204Z,1736357719.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:19.212Z,1736357719.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:19.640Z,1736357719.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:19.648Z,1736357719.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:19.933Z,1736357719.933 [DAT](INFO): DAT read: Rx Time:17:35:18.7405

2025-01-08T17:35:19.933Z,1736357719.933 [DAT](INFO): Rx dataTimestamp_ set to:1736357719.933199
2025-01-08T17:35:20.048Z,1736357720.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:20.057Z,1736357720.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:20.442Z,1736357720.442 [DAT](INFO): DAT read: Range 10 to 50 : 34.9 m  (Round-trip  46.6 ms) speed  0.0 m/s

2025-01-08T17:35:20.444Z,1736357720.444 [DAT](INFO): DAT read: user:271>

2025-01-08T17:35:20.446Z,1736357720.446 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-01-08T17:35:20.568Z,1736357720.568 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:35:20.569Z,1736357720.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:20.591Z,1736357720.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.900002 m,
      deltaT: 3.529091 s,
      deltaX: 0.300003 m,
      approachRate: 0.085009 m/s,
      rangeRepo size: 4

2025-01-08T17:35:20.592Z,1736357720.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:20.689Z,1736357720.689 [DAT](INFO): DAT read: Tx time:17:35:19.8397

2025-01-08T17:35:20.690Z,1736357720.690 [DAT](INFO): Ping request sent.
2025-01-08T17:35:20.690Z,1736357720.690 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:35:20.691Z,1736357720.691 [DAT](INFO): DAT read: TxSync time:17:35:19.8389

2025-01-08T17:35:20.692Z,1736357720.692 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:20.942Z,1736357720.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:20.952Z,1736357720.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:21.282Z,1736357721.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:21.306Z,1736357721.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:21.572Z,1736357721.572 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:35:21.723Z,1736357721.723 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010809362684,35.0, +11.1,   0.0,1493

2025-01-08T17:35:21.730Z,1736357721.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:35:21.731Z,1736357721.731 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:21.740Z,1736357721.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:22.112Z,1736357722.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:35:22.113Z,1736357722.113 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:22.122Z,1736357722.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:22.581Z,1736357722.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:22.591Z,1736357722.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:22.992Z,1736357722.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:23.002Z,1736357723.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:23.408Z,1736357723.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:23.417Z,1736357723.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:23.462Z,1736357723.462 [DAT](INFO): DAT read: Rx Time:17:35:22.2905

2025-01-08T17:35:23.462Z,1736357723.462 [DAT](INFO): Rx dataTimestamp_ set to:1736357723.461941
2025-01-08T17:35:23.834Z,1736357723.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:23.843Z,1736357723.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:24.207Z,1736357724.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:24.217Z,1736357724.217 [DAT](INFO): DAT read: Range 10 to 50 : 34.9 m  (Round-trip  46.6 ms) speed -0.1 m/s

2025-01-08T17:35:24.218Z,1736357724.218 [DAT](INFO): DAT read: user:272>

2025-01-08T17:35:24.219Z,1736357724.219 [DAT](INFO): DAT read: Tx time:17:35:23.3897

2025-01-08T17:35:24.219Z,1736357724.219 [DAT](INFO): Ping request sent.
2025-01-08T17:35:24.220Z,1736357724.220 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:35:24.220Z,1736357724.220 [DAT](INFO): DAT read: TxSync time:17:35:23.3890

2025-01-08T17:35:24.221Z,1736357724.221 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-01-08T17:35:24.221Z,1736357724.221 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:24.221Z,1736357724.221 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:24.224Z,1736357724.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.900002 m,
      deltaT: 3.778609 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:35:24.224Z,1736357724.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:24.633Z,1736357724.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:24.641Z,1736357724.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:25.007Z,1736357725.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:25.018Z,1736357725.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:25.418Z,1736357725.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:25.426Z,1736357725.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:25.836Z,1736357725.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:25.845Z,1736357725.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:26.227Z,1736357726.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:26.252Z,1736357726.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:26.660Z,1736357726.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:26.670Z,1736357726.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:27.043Z,1736357727.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:27.052Z,1736357727.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:27.245Z,1736357727.245 [DAT](INFO): DAT read: Rx Time:17:35:25.8405

2025-01-08T17:35:27.245Z,1736357727.245 [DAT](INFO): Rx dataTimestamp_ set to:1736357727.244786
2025-01-08T17:35:27.446Z,1736357727.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:27.455Z,1736357727.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:27.750Z,1736357727.750 [DAT](INFO): DAT read: Range 10 to 50 : 34.8 m  (Round-trip  46.5 ms) speed  0.0 m/s

2025-01-08T17:35:27.751Z,1736357727.751 [DAT](INFO): DAT read: user:273>

2025-01-08T17:35:27.751Z,1736357727.751 [DAT](INFO): DAT read: Tx time:17:35:26.9398

2025-01-08T17:35:27.752Z,1736357727.752 [DAT](INFO): Ping request sent.
2025-01-08T17:35:27.752Z,1736357727.752 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:35:27.753Z,1736357727.753 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-01-08T17:35:27.754Z,1736357727.754 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:27.757Z,1736357727.757 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:27.876Z,1736357727.876 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:27.887Z,1736357727.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.799999 m,
      deltaT: 3.531834 s,
      deltaX: -0.100002 m,
      approachRate: -0.028315 m/s,
      rangeRepo size: 4

2025-01-08T17:35:27.887Z,1736357727.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:28.000Z,1736357728.000 [DAT](INFO): DAT read: TxSync time:17:35:26.9390

2025-01-08T17:35:28.257Z,1736357728.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:28.267Z,1736357728.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:28.690Z,1736357728.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:28.705Z,1736357728.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:29.064Z,1736357729.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:29.073Z,1736357729.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:29.472Z,1736357729.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:29.481Z,1736357729.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:29.909Z,1736357729.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:29.956Z,1736357729.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:30.277Z,1736357730.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:30.305Z,1736357730.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:30.447Z,1736357730.447 [DockingStepper](ERROR): getADC uart error serial timeout
2025-01-08T17:35:30.447Z,1736357730.447 [DockingStepper](FAULT): uart error - getPosition..serial timeout
2025-01-08T17:35:30.447Z,1736357730.447 [DockingStepper] Communications Fault, FailCount= 1
2025-01-08T17:35:30.448Z,1736357730.448 [DockingStepper](ERROR): Communications Fault
2025-01-08T17:35:30.603Z,1736357730.603 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-01-08T17:35:30.718Z,1736357730.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:30.727Z,1736357730.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:30.746Z,1736357730.746 [DockingStepper](INFO): Stop
2025-01-08T17:35:30.746Z,1736357730.746 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-01-08T17:35:30.747Z,1736357730.747 [DockingStepper](INFO): Powering down
2025-01-08T17:35:30.773Z,1736357730.773 [DAT](INFO): DAT read: Rx Time:17:35:29.3910

2025-01-08T17:35:30.774Z,1736357730.774 [DAT](INFO): Rx dataTimestamp_ set to:1736357730.773437
2025-01-08T17:35:31.098Z,1736357731.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:31.111Z,1736357731.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:31.148Z,1736357731.148 [DockingStepper](INFO): Stopping
2025-01-08T17:35:31.283Z,1736357731.283 [DAT](INFO): DAT read: Range 10 to 50 : 35.2 m  (Round-trip  47.0 ms) speed  0.0 m/s

2025-01-08T17:35:31.284Z,1736357731.284 [DAT](INFO): DAT read: user:274>

2025-01-08T17:35:31.285Z,1736357731.285 [DAT](INFO): DAT read: Tx time:17:35:30.4898

2025-01-08T17:35:31.285Z,1736357731.285 [DAT](INFO): Ping request sent.
2025-01-08T17:35:31.285Z,1736357731.285 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:35:31.285Z,1736357731.285 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-01-08T17:35:31.286Z,1736357731.286 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:31.286Z,1736357731.286 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:31.506Z,1736357731.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:31.516Z,1736357731.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.200001 m,
      deltaT: 3.532365 s,
      deltaX: 0.400002 m,
      approachRate: 0.113239 m/s,
      rangeRepo size: 4

2025-01-08T17:35:31.516Z,1736357731.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:31.534Z,1736357731.534 [DAT](INFO): DAT read: TxSync time:17:35:30.4890

2025-01-08T17:35:31.681Z,1736357731.681 [DockingStepper](INFO): Stopping
2025-01-08T17:35:31.929Z,1736357731.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:31.943Z,1736357731.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:31.976Z,1736357731.976 [DockingStepper](INFO): Stopping
2025-01-08T17:35:32.309Z,1736357732.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:32.330Z,1736357732.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:32.354Z,1736357732.354 [DockingStepper](INFO): Stopping
2025-01-08T17:35:32.736Z,1736357732.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:32.765Z,1736357732.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:32.799Z,1736357732.799 [DockingStepper](INFO): Stopping
2025-01-08T17:35:33.120Z,1736357733.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:33.129Z,1736357733.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:33.142Z,1736357733.142 [DockingStepper](INFO): Stopping
2025-01-08T17:35:33.535Z,1736357733.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:33.544Z,1736357733.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:33.580Z,1736357733.580 [DockingStepper](INFO): Stopping
2025-01-08T17:35:33.961Z,1736357733.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:33.977Z,1736357733.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:34.012Z,1736357734.012 [DockingStepper](INFO): Stopping
2025-01-08T17:35:34.308Z,1736357734.308 [DAT](INFO): DAT read: Rx Time:17:35:32.9416

2025-01-08T17:35:34.309Z,1736357734.309 [DAT](INFO): Rx dataTimestamp_ set to:1736357734.308616
2025-01-08T17:35:34.325Z,1736357734.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:34.334Z,1736357734.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:34.347Z,1736357734.347 [DockingStepper](INFO): Stopping
2025-01-08T17:35:34.764Z,1736357734.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:34.797Z,1736357734.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:34.813Z,1736357734.813 [DAT](INFO): DAT read: Range 10 to 50 : 35.7 m  (Round-trip  47.6 ms) speed -0.1 m/s

2025-01-08T17:35:34.814Z,1736357734.814 [DAT](INFO): DAT read: user:275>

2025-01-08T17:35:34.816Z,1736357734.816 [DAT](INFO): DAT read: Tx time:17:35:34.0398

2025-01-08T17:35:34.816Z,1736357734.816 [DAT](INFO): Ping request sent.
2025-01-08T17:35:34.816Z,1736357734.816 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:35:34.816Z,1736357734.816 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-01-08T17:35:34.817Z,1736357734.817 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:34.817Z,1736357734.817 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:34.833Z,1736357734.833 [DockingStepper](INFO): Stopping
2025-01-08T17:35:35.064Z,1736357735.064 [DAT](INFO): DAT read: TxSync time:17:35:34.0390

2025-01-08T17:35:35.124Z,1736357735.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:35.134Z,1736357735.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.700001 m,
      deltaT: 3.531913 s,
      deltaX: 0.500000 m,
      approachRate: 0.141566 m/s,
      rangeRepo size: 4

2025-01-08T17:35:35.134Z,1736357735.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:35.169Z,1736357735.169 [DockingStepper](INFO): Stopping
2025-01-08T17:35:35.549Z,1736357735.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:35.577Z,1736357735.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:35.764Z,1736357735.764 [DockingStepper](INFO): Stopping
2025-01-08T17:35:35.960Z,1736357735.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:35.970Z,1736357735.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:36.028Z,1736357736.028 [DockingStepper](INFO): Stopping
2025-01-08T17:35:36.337Z,1736357736.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:36.369Z,1736357736.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:36.436Z,1736357736.436 [DockingStepper](INFO): Stopping
2025-01-08T17:35:36.778Z,1736357736.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:36.790Z,1736357736.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:36.950Z,1736357736.950 [DockingStepper](INFO): Stopping
2025-01-08T17:35:37.142Z,1736357737.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:37.152Z,1736357737.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:37.317Z,1736357737.317 [DockingStepper](INFO): Stopping
2025-01-08T17:35:37.567Z,1736357737.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:37.578Z,1736357737.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:37.644Z,1736357737.644 [DockingStepper](INFO): Stopping
2025-01-08T17:35:37.840Z,1736357737.840 [DAT](INFO): DAT read: Rx Time:17:35:36.4918

2025-01-08T17:35:37.841Z,1736357737.841 [DAT](INFO): Rx dataTimestamp_ set to:1736357737.840482
2025-01-08T17:35:37.994Z,1736357737.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:38.004Z,1736357738.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:38.180Z,1736357738.180 [DockingStepper](INFO): Stopping
2025-01-08T17:35:38.346Z,1736357738.346 [DAT](INFO): DAT read: Range 10 to 50 : 35.8 m  (Round-trip  47.8 ms) speed  0.0 m/s

2025-01-08T17:35:38.346Z,1736357738.346 [DAT](INFO): DAT read: user:276>

2025-01-08T17:35:38.347Z,1736357738.347 [DAT](INFO): DAT read: Tx time:17:35:37.5899

2025-01-08T17:35:38.347Z,1736357738.347 [DAT](INFO): Ping request sent.
2025-01-08T17:35:38.348Z,1736357738.348 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:35:38.348Z,1736357738.348 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-01-08T17:35:38.348Z,1736357738.348 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:38.349Z,1736357738.349 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:38.360Z,1736357738.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:38.368Z,1736357738.368 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:35:38.370Z,1736357738.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.799999 m,
      deltaT: 3.532096 s,
      deltaX: 0.099998 m,
      approachRate: 0.028311 m/s,
      rangeRepo size: 4

2025-01-08T17:35:38.371Z,1736357738.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:38.571Z,1736357738.571 [DockingStepper](INFO): Stopping
2025-01-08T17:35:38.598Z,1736357738.598 [DAT](INFO): DAT read: TxSync time:17:35:37.5891

2025-01-08T17:35:38.599Z,1736357738.599 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:35:38.599Z,1736357738.599 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:35:38.600Z,1736357738.600 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:35:38.802Z,1736357738.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:38.837Z,1736357738.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:38.849Z,1736357738.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501538
2025-01-08T17:35:39.008Z,1736357739.008 [DockingStepper](INFO): Stopping
2025-01-08T17:35:39.100Z,1736357739.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752896
2025-01-08T17:35:39.161Z,1736357739.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:39.171Z,1736357739.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:39.205Z,1736357739.205 [DockingStepper](INFO): Stopping
2025-01-08T17:35:39.353Z,1736357739.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005047
2025-01-08T17:35:39.567Z,1736357739.567 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:39.579Z,1736357739.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:39.594Z,1736357739.594 [DockingStepper](INFO): Stopping
2025-01-08T17:35:39.604Z,1736357739.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256789
2025-01-08T17:35:39.856Z,1736357739.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508627
2025-01-08T17:35:39.998Z,1736357739.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:40.007Z,1736357740.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:40.055Z,1736357740.055 [DockingStepper](INFO): Stopping
2025-01-08T17:35:40.108Z,1736357740.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760905
2025-01-08T17:35:40.360Z,1736357740.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012803
2025-01-08T17:35:40.376Z,1736357740.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:40.402Z,1736357740.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:40.437Z,1736357740.437 [DockingStepper](INFO): Stopping
2025-01-08T17:35:40.613Z,1736357740.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265243
2025-01-08T17:35:40.830Z,1736357740.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:40.840Z,1736357740.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:40.868Z,1736357740.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520172
2025-01-08T17:35:40.892Z,1736357740.892 [DockingStepper](INFO): Stopping
2025-01-08T17:35:41.121Z,1736357741.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772961
2025-01-08T17:35:41.202Z,1736357741.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:41.215Z,1736357741.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:41.256Z,1736357741.256 [DockingStepper](INFO): Stopping
2025-01-08T17:35:41.372Z,1736357741.372 [DAT](INFO): DAT read: Rx Time:17:35:40.0416

2025-01-08T17:35:41.373Z,1736357741.373 [DAT](INFO): Rx dataTimestamp_ set to:1736357741.372417
2025-01-08T17:35:41.373Z,1736357741.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025676
2025-01-08T17:35:41.598Z,1736357741.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:41.606Z,1736357741.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:41.624Z,1736357741.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276741
2025-01-08T17:35:41.626Z,1736357741.626 [DockingStepper](INFO): Stopping
2025-01-08T17:35:41.877Z,1736357741.877 [DAT](INFO): DAT read: Range 10 to 50 : 35.6 m  (Round-trip  47.5 ms) speed  0.0 m/s

2025-01-08T17:35:41.878Z,1736357741.878 [DAT](INFO): DAT read: user:277>

2025-01-08T17:35:41.879Z,1736357741.879 [DAT](INFO): DAT read: Tx time:17:35:41.1399

2025-01-08T17:35:41.883Z,1736357741.883 [DAT](INFO): Ping request sent.
2025-01-08T17:35:41.883Z,1736357741.883 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:35:41.883Z,1736357741.883 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:35:41.883Z,1736357741.883 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:41.884Z,1736357741.884 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:42.021Z,1736357742.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:42.034Z,1736357742.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.599998 m,
      deltaT: 3.531696 s,
      deltaX: -0.200001 m,
      approachRate: -0.056630 m/s,
      rangeRepo size: 4

2025-01-08T17:35:42.034Z,1736357742.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:42.048Z,1736357742.048 [DockingStepper](INFO): Stopping
2025-01-08T17:35:42.128Z,1736357742.128 [DAT](INFO): DAT read: TxSync time:17:35:41.1391

2025-01-08T17:35:42.409Z,1736357742.409 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:42.418Z,1736357742.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:42.431Z,1736357742.431 [DockingStepper](INFO): Stopping
2025-01-08T17:35:42.854Z,1736357742.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:42.879Z,1736357742.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:42.912Z,1736357742.912 [DockingStepper](INFO): Stopping
2025-01-08T17:35:43.204Z,1736357743.204 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:43.213Z,1736357743.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:43.377Z,1736357743.377 [DockingStepper](INFO): Stopping
2025-01-08T17:35:43.608Z,1736357743.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:43.616Z,1736357743.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:43.638Z,1736357743.638 [DockingStepper](INFO): Stopping
2025-01-08T17:35:44.042Z,1736357744.042 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:44.052Z,1736357744.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:44.086Z,1736357744.086 [DockingStepper](INFO): Stopping
2025-01-08T17:35:44.420Z,1736357744.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:44.428Z,1736357744.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:44.479Z,1736357744.479 [DockingStepper](INFO): Stopping
2025-01-08T17:35:44.889Z,1736357744.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:44.901Z,1736357744.901 [DAT](INFO): DAT read: Rx Time:17:35:43.5916

2025-01-08T17:35:44.901Z,1736357744.901 [DAT](INFO): Rx dataTimestamp_ set to:1736357744.900772
2025-01-08T17:35:44.902Z,1736357744.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:44.966Z,1736357744.966 [DockingStepper](INFO): Stopping
2025-01-08T17:35:45.228Z,1736357745.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:45.237Z,1736357745.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:45.266Z,1736357745.266 [DockingStepper](INFO): Stopping
2025-01-08T17:35:45.405Z,1736357745.405 [DAT](INFO): DAT read: Range 10 to 50 : 35.7 m  (Round-trip  47.6 ms) speed  0.0 m/s

2025-01-08T17:35:45.406Z,1736357745.406 [DAT](INFO): DAT read: user:278>

2025-01-08T17:35:45.407Z,1736357745.407 [DAT](INFO): DAT read: Tx time:17:35:44.6899

2025-01-08T17:35:45.407Z,1736357745.407 [DAT](INFO): Ping request sent.
2025-01-08T17:35:45.408Z,1736357745.408 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:35:45.408Z,1736357745.408 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-01-08T17:35:45.408Z,1736357745.408 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:45.409Z,1736357745.409 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:45.652Z,1736357745.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:45.657Z,1736357745.657 [DAT](INFO): DAT read: TxSync time:17:35:44.6891

2025-01-08T17:35:45.666Z,1736357745.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.700001 m,
      deltaT: 3.527956 s,
      deltaX: 0.100002 m,
      approachRate: 0.028346 m/s,
      rangeRepo size: 4

2025-01-08T17:35:45.666Z,1736357745.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:45.726Z,1736357745.726 [DockingStepper](INFO): Stopping
2025-01-08T17:35:46.064Z,1736357746.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:46.078Z,1736357746.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:46.104Z,1736357746.104 [DockingStepper](INFO): Stopping
2025-01-08T17:35:46.435Z,1736357746.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:46.444Z,1736357746.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:46.501Z,1736357746.501 [DockingStepper](INFO): Stopping
2025-01-08T17:35:46.917Z,1736357746.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:46.932Z,1736357746.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:46.969Z,1736357746.969 [DockingStepper](INFO): Stopping
2025-01-08T17:35:47.239Z,1736357747.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:47.263Z,1736357747.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:47.286Z,1736357747.286 [DockingStepper](INFO): Stopping
2025-01-08T17:35:47.652Z,1736357747.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:47.661Z,1736357747.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:47.721Z,1736357747.721 [DockingStepper](INFO): Stopping
2025-01-08T17:35:48.075Z,1736357748.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:48.084Z,1736357748.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:48.127Z,1736357748.127 [DockingStepper](INFO): Stopping
2025-01-08T17:35:48.433Z,1736357748.433 [DAT](INFO): DAT read: Rx Time:17:35:47.1422

2025-01-08T17:35:48.433Z,1736357748.433 [DAT](INFO): Rx dataTimestamp_ set to:1736357748.433023
2025-01-08T17:35:48.480Z,1736357748.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:48.490Z,1736357748.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:48.520Z,1736357748.520 [DockingStepper](INFO): Stopping
2025-01-08T17:35:48.917Z,1736357748.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:48.929Z,1736357748.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:48.937Z,1736357748.937 [DAT](INFO): DAT read: Range 10 to 50 : 36.1 m  (Round-trip  48.2 ms) speed -0.1 m/s

2025-01-08T17:35:48.938Z,1736357748.938 [DAT](INFO): DAT read: user:279>

2025-01-08T17:35:48.939Z,1736357748.939 [DAT](INFO): DAT read: Tx time:17:35:48.2399

2025-01-08T17:35:48.939Z,1736357748.939 [DAT](INFO): Ping request sent.
2025-01-08T17:35:48.939Z,1736357748.939 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:35:48.940Z,1736357748.940 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-01-08T17:35:48.940Z,1736357748.940 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:48.940Z,1736357748.940 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:48.967Z,1736357748.967 [DockingStepper](INFO): Stopping
2025-01-08T17:35:49.188Z,1736357749.188 [DAT](INFO): DAT read: TxSync time:17:35:48.2391

2025-01-08T17:35:49.310Z,1736357749.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:49.320Z,1736357749.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.099998 m,
      deltaT: 3.532225 s,
      deltaX: 0.399998 m,
      approachRate: 0.113242 m/s,
      rangeRepo size: 4

2025-01-08T17:35:49.321Z,1736357749.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:49.334Z,1736357749.334 [DockingStepper](INFO): Stopping
2025-01-08T17:35:49.668Z,1736357749.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:49.693Z,1736357749.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:49.897Z,1736357749.897 [DockingStepper](INFO): Stopping
2025-01-08T17:35:50.105Z,1736357750.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:50.113Z,1736357750.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:50.180Z,1736357750.180 [DockingStepper](INFO): Stopping
2025-01-08T17:35:50.494Z,1736357750.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:50.504Z,1736357750.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:50.656Z,1736357750.656 [DockingStepper](INFO): Stopping
2025-01-08T17:35:50.972Z,1736357750.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:50.980Z,1736357750.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:51.133Z,1736357751.133 [DockingStepper](INFO): Stopping
2025-01-08T17:35:51.301Z,1736357751.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:51.309Z,1736357751.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:51.380Z,1736357751.380 [DockingStepper](INFO): Stopped
2025-01-08T17:35:51.512Z,1736357751.512 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-01-08T17:35:51.512Z,1736357751.512 [DockingStepper] No Fault, FailCount= 1
2025-01-08T17:35:51.700Z,1736357751.700 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:35:51.733Z,1736357751.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:51.750Z,1736357751.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:51.936Z,1736357751.936 [DockingStepper](INFO): Start
2025-01-08T17:35:51.936Z,1736357751.936 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-01-08T17:35:51.938Z,1736357751.938 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-01-08T17:35:51.965Z,1736357751.965 [DAT](INFO): DAT read: Rx Time:17:35:50.6929

2025-01-08T17:35:51.967Z,1736357751.967 [DAT](INFO): Rx dataTimestamp_ set to:1736357751.966043
2025-01-08T17:35:52.137Z,1736357752.137 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:52.145Z,1736357752.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:52.186Z,1736357752.186 [DockingStepper](INFO): Starting
2025-01-08T17:35:52.468Z,1736357752.468 [DAT](INFO): DAT read: Range 10 to 50 : 36.6 m  (Round-trip  48.8 ms) speed -0.1 m/s

2025-01-08T17:35:52.469Z,1736357752.469 [DAT](INFO): DAT read: user:280>

2025-01-08T17:35:52.470Z,1736357752.470 [DAT](INFO): DAT read: Tx time:17:35:51.7900

2025-01-08T17:35:52.471Z,1736357752.471 [DAT](INFO): Ping request sent.
2025-01-08T17:35:52.471Z,1736357752.471 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:35:52.472Z,1736357752.472 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-01-08T17:35:52.472Z,1736357752.472 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:52.473Z,1736357752.473 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:52.534Z,1736357752.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:52.556Z,1736357752.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.599998 m,
      deltaT: 3.529452 s,
      deltaX: 0.500000 m,
      approachRate: 0.141665 m/s,
      rangeRepo size: 4

2025-01-08T17:35:52.557Z,1736357752.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:52.586Z,1736357752.586 [DockingStepper](INFO): Starting
2025-01-08T17:35:52.704Z,1736357752.704 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:35:52.720Z,1736357752.720 [DAT](INFO): DAT read: TxSync time:17:35:51.7892

2025-01-08T17:35:52.978Z,1736357752.978 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:52.995Z,1736357752.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:53.021Z,1736357753.021 [DockingStepper](INFO): Starting
2025-01-08T17:35:53.072Z,1736357753.072 [DockingStepper](INFO): Init string: /1z16360aE13561N3m50
2025-01-08T17:35:53.346Z,1736357753.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:53.356Z,1736357753.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:53.369Z,1736357753.369 [DockingStepper](INFO): Starting
2025-01-08T17:35:53.726Z,1736357753.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:53.751Z,1736357753.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:53.804Z,1736357753.804 [DockingStepper](INFO): Starting
2025-01-08T17:35:54.152Z,1736357754.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:54.160Z,1736357754.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:54.191Z,1736357754.191 [DockingStepper](INFO): Starting
2025-01-08T17:35:54.536Z,1736357754.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:54.564Z,1736357754.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:54.578Z,1736357754.578 [DockingStepper](INFO): Starting
2025-01-08T17:35:54.616Z,1736357754.616 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-01-08T17:35:54.993Z,1736357754.993 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:55.017Z,1736357755.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:55.050Z,1736357755.050 [DockingStepper](INFO): Starting
2025-01-08T17:35:55.394Z,1736357755.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:55.452Z,1736357755.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:55.468Z,1736357755.468 [DockingStepper](INFO): Changing to mode: 1
2025-01-08T17:35:55.468Z,1736357755.468 [DockingStepper](INFO): Standby mode.
2025-01-08T17:35:55.489Z,1736357755.489 [DAT](INFO): DAT read: Rx Time:17:35:54.2429

2025-01-08T17:35:55.490Z,1736357755.490 [DAT](INFO): Rx dataTimestamp_ set to:1736357755.489148
2025-01-08T17:35:55.744Z,1736357755.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:55.778Z,1736357755.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:55.999Z,1736357755.999 [DAT](INFO): DAT read: Range 10 to 50 : 36.6 m  (Round-trip  48.8 ms) speed  0.0 m/s

2025-01-08T17:35:56.002Z,1736357756.002 [DAT](INFO): DAT read: user:281>

2025-01-08T17:35:56.031Z,1736357756.031 [DAT](INFO): DAT read: Tx time:17:35:55.3400

2025-01-08T17:35:56.032Z,1736357756.032 [DAT](INFO): Ping request sent.
2025-01-08T17:35:56.032Z,1736357756.032 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:35:56.033Z,1736357756.033 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-01-08T17:35:56.034Z,1736357756.034 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:56.049Z,1736357756.049 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:56.188Z,1736357756.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:56.198Z,1736357756.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.599998 m,
      deltaT: 3.528105 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:35:56.199Z,1736357756.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:56.246Z,1736357756.246 [DAT](INFO): DAT read: TxSync time:17:35:55.3392

2025-01-08T17:35:56.564Z,1736357756.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:56.573Z,1736357756.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:57.037Z,1736357757.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:57.053Z,1736357757.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:57.401Z,1736357757.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:57.409Z,1736357757.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:57.769Z,1736357757.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:57.777Z,1736357757.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:58.197Z,1736357758.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:58.206Z,1736357758.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:58.577Z,1736357758.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:58.602Z,1736357758.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:58.983Z,1736357758.983 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:58.992Z,1736357758.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:59.019Z,1736357759.019 [DAT](INFO): DAT read: Rx Time:17:35:57.7927

2025-01-08T17:35:59.020Z,1736357759.020 [DAT](INFO): Rx dataTimestamp_ set to:1736357759.019475
2025-01-08T17:35:59.407Z,1736357759.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:59.416Z,1736357759.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:35:59.521Z,1736357759.521 [DAT](INFO): DAT read: Range 10 to 50 : 36.4 m  (Round-trip  48.6 ms) speed  0.0 m/s

2025-01-08T17:35:59.522Z,1736357759.522 [DAT](INFO): DAT read: user:282>

2025-01-08T17:35:59.523Z,1736357759.523 [DAT](INFO): DAT read: Tx time:17:35:58.8900

2025-01-08T17:35:59.523Z,1736357759.523 [DAT](INFO): Ping request sent.
2025-01-08T17:35:59.523Z,1736357759.523 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:35:59.524Z,1736357759.524 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-01-08T17:35:59.524Z,1736357759.524 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:59.524Z,1736357759.524 [DAT](INFO): publishing transmit ping time
2025-01-08T17:35:59.772Z,1736357759.772 [DAT](INFO): DAT read: TxSync time:17:35:58.8892

2025-01-08T17:35:59.789Z,1736357759.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:35:59.814Z,1736357759.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.400002 m,
      deltaT: 3.526262 s,
      deltaX: -0.199997 m,
      approachRate: -0.056716 m/s,
      rangeRepo size: 4

2025-01-08T17:35:59.814Z,1736357759.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:00.220Z,1736357760.220 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:00.229Z,1736357760.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:00.591Z,1736357760.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:00.601Z,1736357760.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:00.994Z,1736357760.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:01.004Z,1736357761.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:01.428Z,1736357761.428 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:01.438Z,1736357761.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:01.834Z,1736357761.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:01.842Z,1736357761.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:02.237Z,1736357762.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:02.267Z,1736357762.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:02.544Z,1736357762.544 [DAT](INFO): DAT read: Rx Time:17:36:01.3430

2025-01-08T17:36:02.545Z,1736357762.545 [DAT](INFO): Rx dataTimestamp_ set to:1736357762.544536
2025-01-08T17:36:02.636Z,1736357762.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:02.644Z,1736357762.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:03.050Z,1736357763.050 [DAT](INFO): DAT read: Range 10 to 50 : 36.6 m  (Round-trip  48.9 ms) speed -0.1 m/s

2025-01-08T17:36:03.050Z,1736357763.050 [DAT](INFO): DAT read: user:283>

2025-01-08T17:36:03.051Z,1736357763.051 [DAT](ERROR): #Rx 7: Read range message, but no direction.
2025-01-08T17:36:03.111Z,1736357763.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:03.160Z,1736357763.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.599998 m,
      deltaT: 3.528138 s,
      deltaX: 0.199997 m,
      approachRate: 0.056686 m/s,
      rangeRepo size: 4

2025-01-08T17:36:03.160Z,1736357763.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:03.300Z,1736357763.300 [DAT](INFO): DAT read: Tx time:17:36:02.4400

2025-01-08T17:36:03.301Z,1736357763.301 [DAT](INFO): Ping request sent.
2025-01-08T17:36:03.301Z,1736357763.301 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:36:03.302Z,1736357763.302 [DAT](INFO): DAT read: TxSync time:17:36:02.4393

2025-01-08T17:36:03.302Z,1736357763.302 [DAT](INFO): publishing transmit ping time
2025-01-08T17:36:03.462Z,1736357763.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:03.492Z,1736357763.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:03.828Z,1736357763.828 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:03.853Z,1736357763.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:04.290Z,1736357764.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:04.302Z,1736357764.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:04.732Z,1736357764.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:04.741Z,1736357764.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:05.194Z,1736357765.194 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:05.219Z,1736357765.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:05.549Z,1736357765.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:05.558Z,1736357765.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:05.959Z,1736357765.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:05.967Z,1736357765.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:06.073Z,1736357766.073 [DAT](INFO): DAT read: Rx Time:17:36:04.8936

2025-01-08T17:36:06.074Z,1736357766.074 [DAT](INFO): Rx dataTimestamp_ set to:1736357766.073393
2025-01-08T17:36:06.377Z,1736357766.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:06.386Z,1736357766.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:06.578Z,1736357766.578 [DAT](INFO): DAT read: Range 10 to 50 : 37.0 m  (Round-trip  49.4 ms) speed -0.1 m/s

2025-01-08T17:36:06.579Z,1736357766.579 [DAT](INFO): DAT read: user:284>

2025-01-08T17:36:06.579Z,1736357766.579 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-01-08T17:36:06.802Z,1736357766.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:06.816Z,1736357766.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.000000 m,
      deltaT: 3.528639 s,
      deltaX: 0.400002 m,
      approachRate: 0.113359 m/s,
      rangeRepo size: 4

2025-01-08T17:36:06.817Z,1736357766.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:06.829Z,1736357766.829 [DAT](INFO): DAT read: Tx time:17:36:05.9901

2025-01-08T17:36:06.829Z,1736357766.829 [DAT](INFO): Ping request sent.
2025-01-08T17:36:06.829Z,1736357766.829 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:36:06.830Z,1736357766.830 [DAT](INFO): DAT read: TxSync time:17:36:05.9893

2025-01-08T17:36:06.830Z,1736357766.830 [DAT](INFO): publishing transmit ping time
2025-01-08T17:36:07.234Z,1736357767.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:07.242Z,1736357767.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:07.637Z,1736357767.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:07.645Z,1736357767.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:08.027Z,1736357768.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:08.057Z,1736357768.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:08.473Z,1736357768.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:08.483Z,1736357768.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:08.854Z,1736357768.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:08.863Z,1736357768.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:09.274Z,1736357769.274 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:09.303Z,1736357769.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:09.661Z,1736357769.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:09.673Z,1736357769.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:09.852Z,1736357769.852 [DAT](INFO): DAT read: Rx Time:17:36:08.4439

2025-01-08T17:36:09.853Z,1736357769.853 [DAT](INFO): Rx dataTimestamp_ set to:1736357769.852452
2025-01-08T17:36:10.073Z,1736357770.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:10.089Z,1736357770.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:10.360Z,1736357770.360 [DAT](INFO): DAT read: Range 10 to 50 : 37.2 m  (Round-trip  49.7 ms) speed  0.0 m/s

2025-01-08T17:36:10.361Z,1736357770.361 [DAT](INFO): DAT read: user:285>

2025-01-08T17:36:10.362Z,1736357770.362 [DAT](INFO): DAT read: Tx time:17:36:09.5401

2025-01-08T17:36:10.363Z,1736357770.363 [DAT](INFO): Ping request sent.
2025-01-08T17:36:10.363Z,1736357770.363 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:36:10.364Z,1736357770.364 [DAT](INFO): DAT read: TxSync time:17:36:09.5393

2025-01-08T17:36:10.365Z,1736357770.365 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-01-08T17:36:10.365Z,1736357770.365 [DAT](INFO): publishing transmit ping time
2025-01-08T17:36:10.366Z,1736357770.366 [DAT](INFO): publishing transmit ping time
2025-01-08T17:36:10.557Z,1736357770.557 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:10.568Z,1736357770.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.200001 m,
      deltaT: 3.780560 s,
      deltaX: 0.200001 m,
      approachRate: 0.052902 m/s,
      rangeRepo size: 4

2025-01-08T17:36:10.568Z,1736357770.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:10.977Z,1736357770.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:10.985Z,1736357770.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:11.412Z,1736357771.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:11.421Z,1736357771.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:11.827Z,1736357771.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:11.837Z,1736357771.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:12.286Z,1736357772.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:12.294Z,1736357772.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:12.733Z,1736357772.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:12.741Z,1736357772.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:12.986Z,1736357772.986 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-08T17:36:13.116Z,1736357773.116 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:13.132Z,1736357773.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:13.389Z,1736357773.389 [DAT](INFO): DAT read: Rx Time:17:36:11.9938

2025-01-08T17:36:13.389Z,1736357773.389 [DAT](INFO): Rx dataTimestamp_ set to:1736357773.388879
2025-01-08T17:36:13.548Z,1736357773.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:13.556Z,1736357773.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:13.895Z,1736357773.895 [DAT](INFO): DAT read: Range 10 to 50 : 37.2 m  (Round-trip  49.6 ms) speed -0.1 m/s

2025-01-08T17:36:13.896Z,1736357773.896 [DAT](INFO): DAT read: user:286>

2025-01-08T17:36:13.897Z,1736357773.897 [DAT](INFO): DAT read: Tx time:17:36:13.0901

2025-01-08T17:36:13.898Z,1736357773.898 [DAT](INFO): Ping request sent.
2025-01-08T17:36:13.898Z,1736357773.898 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:36:13.899Z,1736357773.899 [DAT](ERROR): #Rx 10: Read range message, but no direction.
2025-01-08T17:36:13.899Z,1736357773.899 [DAT](INFO): publishing transmit ping time
2025-01-08T17:36:13.900Z,1736357773.900 [DAT](INFO): publishing transmit ping time
2025-01-08T17:36:14.015Z,1736357774.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:14.024Z,1736357774.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.200001 m,
      deltaT: 3.535069 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:36:14.024Z,1736357774.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:14.149Z,1736357774.149 [DAT](INFO): DAT read: TxSync time:17:36:13.0893

2025-01-08T17:36:14.449Z,1736357774.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:14.458Z,1736357774.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:14.882Z,1736357774.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:14.906Z,1736357774.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:15.336Z,1736357775.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:15.350Z,1736357775.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:15.713Z,1736357775.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:15.740Z,1736357775.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:16.111Z,1736357776.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:16.122Z,1736357776.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:16.548Z,1736357776.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:16.577Z,1736357776.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:16.916Z,1736357776.916 [DAT](INFO): DAT read: Rx Time:17:36:15.5439

2025-01-08T17:36:16.917Z,1736357776.917 [DAT](INFO): Rx dataTimestamp_ set to:1736357776.916583
2025-01-08T17:36:16.973Z,1736357776.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:16.998Z,1736357776.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:17.421Z,1736357777.421 [DAT](INFO): DAT read: Range 10 to 50 : 37.2 m  (Round-trip  49.6 ms) speed  0.0 m/s

2025-01-08T17:36:17.422Z,1736357777.422 [DAT](INFO): DAT read: user:287>

2025-01-08T17:36:17.423Z,1736357777.423 [DAT](INFO): DAT read: Tx time:17:36:16.6402

2025-01-08T17:36:17.423Z,1736357777.423 [DAT](INFO): Ping request sent.
2025-01-08T17:36:17.423Z,1736357777.423 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:36:17.424Z,1736357777.424 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-01-08T17:36:17.424Z,1736357777.424 [DAT](INFO): publishing transmit ping time
2025-01-08T17:36:17.424Z,1736357777.424 [DAT](INFO): publishing transmit ping time
2025-01-08T17:36:17.441Z,1736357777.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-08T17:36:17.441Z,1736357777.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:17.496Z,1736357777.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.200001 m,
      deltaT: 3.527657 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:36:17.496Z,1736357777.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:17.673Z,1736357777.673 [DAT](INFO): DAT read: TxSync time:17:36:16.6394

2025-01-08T17:36:17.836Z,1736357777.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-08T17:36:17.836Z,1736357777.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:17.845Z,1736357777.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:18.223Z,1736357778.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-08T17:36:18.223Z,1736357778.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:18.245Z,1736357778.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:18.632Z,1736357778.632 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,32768,V
2025-01-08T17:36:18.639Z,1736357778.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.7 s old, using for 20.0 s.
2025-01-08T17:36:18.639Z,1736357778.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:18.668Z,1736357778.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:19.029Z,1736357779.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 2.1 s old, using for 20.0 s.
2025-01-08T17:36:19.029Z,1736357779.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:19.039Z,1736357779.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:19.464Z,1736357779.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:19.473Z,1736357779.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:19.865Z,1736357779.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:19.873Z,1736357779.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:20.263Z,1736357780.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:20.294Z,1736357780.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:20.445Z,1736357780.445 [DAT](INFO): DAT read: Rx Time:17:36:19.0943

2025-01-08T17:36:20.446Z,1736357780.446 [DAT](INFO): Rx dataTimestamp_ set to:1736357780.445561
2025-01-08T17:36:20.725Z,1736357780.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:20.734Z,1736357780.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:20.950Z,1736357780.950 [DAT](INFO): DAT read: Range 10 to 50 : 37.5 m  (Round-trip  50.0 ms) speed -0.1 m/s

2025-01-08T17:36:20.951Z,1736357780.951 [DAT](INFO): DAT read: user:288>

2025-01-08T17:36:20.952Z,1736357780.952 [DAT](INFO): DAT read: Tx time:17:36:20.1902

2025-01-08T17:36:20.953Z,1736357780.953 [DAT](INFO): Ping request sent.
2025-01-08T17:36:20.953Z,1736357780.953 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:36:20.953Z,1736357780.953 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-01-08T17:36:20.954Z,1736357780.954 [DAT](INFO): publishing transmit ping time
2025-01-08T17:36:20.955Z,1736357780.954 [DAT](INFO): publishing transmit ping time
2025-01-08T17:36:21.095Z,1736357781.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:21.106Z,1736357781.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.500000 m,
      deltaT: 3.528437 s,
      deltaX: 0.299999 m,
      approachRate: 0.085023 m/s,
      rangeRepo size: 4

2025-01-08T17:36:21.106Z,1736357781.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:21.202Z,1736357781.202 [DAT](INFO): DAT read: TxSync time:17:36:20.1894

2025-01-08T17:36:21.554Z,1736357781.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:21.562Z,1736357781.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:21.929Z,1736357781.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:21.939Z,1736357781.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:22.347Z,1736357782.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:22.359Z,1736357782.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:22.803Z,1736357782.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:22.812Z,1736357782.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:22.824Z,1736357782.824 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:36:23.193Z,1736357783.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:23.202Z,1736357783.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:23.643Z,1736357783.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:23.653Z,1736357783.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:23.828Z,1736357783.828 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:36:23.972Z,1736357783.972 [DAT](INFO): DAT read: Rx Time:17:36:22.6447

2025-01-08T17:36:23.973Z,1736357783.973 [DAT](INFO): Rx dataTimestamp_ set to:1736357783.972322
2025-01-08T17:36:24.093Z,1736357784.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:24.103Z,1736357784.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:24.477Z,1736357784.477 [DAT](INFO): DAT read: Range 10 to 50 : 37.7 m  (Round-trip  50.3 ms) speed  0.0 m/s

2025-01-08T17:36:24.478Z,1736357784.478 [DAT](INFO): DAT read: user:289>

2025-01-08T17:36:24.479Z,1736357784.479 [DAT](INFO): DAT read: Tx time:17:36:23.7402

2025-01-08T17:36:24.479Z,1736357784.479 [DAT](INFO): Ping request sent.
2025-01-08T17:36:24.479Z,1736357784.479 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:36:24.480Z,1736357784.480 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-01-08T17:36:24.480Z,1736357784.480 [DAT](INFO): publishing transmit ping time
2025-01-08T17:36:24.481Z,1736357784.481 [DAT](INFO): publishing transmit ping time
2025-01-08T17:36:24.540Z,1736357784.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:24.565Z,1736357784.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.700001 m,
      deltaT: 3.527583 s,
      deltaX: 0.200001 m,
      approachRate: 0.056696 m/s,
      rangeRepo size: 4

2025-01-08T17:36:24.566Z,1736357784.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:24.728Z,1736357784.728 [DAT](INFO): DAT read: TxSync time:17:36:23.7394

2025-01-08T17:36:24.878Z,1736357784.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:24.888Z,1736357784.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:25.287Z,1736357785.287 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:25.296Z,1736357785.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:25.724Z,1736357785.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:25.733Z,1736357785.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:26.143Z,1736357786.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:26.153Z,1736357786.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:26.569Z,1736357786.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:26.599Z,1736357786.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:26.998Z,1736357786.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:27.024Z,1736357787.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:27.499Z,1736357787.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:27.500Z,1736357787.500 [DAT](INFO): DAT read: Rx Time:17:36:26.1946

2025-01-08T17:36:27.501Z,1736357787.501 [DAT](INFO): Rx dataTimestamp_ set to:1736357787.500668
2025-01-08T17:36:27.509Z,1736357787.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:27.932Z,1736357787.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:27.961Z,1736357787.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:28.006Z,1736357788.006 [DAT](INFO): DAT read: Range 10 to 50 : 37.5 m  (Round-trip  50.1 ms) speed  0.0 m/s

2025-01-08T17:36:28.007Z,1736357788.007 [DAT](INFO): DAT read: user:290>

2025-01-08T17:36:28.008Z,1736357788.008 [DAT](INFO): DAT read: Tx time:17:36:27.2903

2025-01-08T17:36:28.009Z,1736357788.009 [DAT](INFO): Ping request sent.
2025-01-08T17:36:28.009Z,1736357788.009 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:36:28.009Z,1736357788.009 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-01-08T17:36:28.009Z,1736357788.009 [DAT](INFO): publishing transmit ping time
2025-01-08T17:36:28.010Z,1736357788.010 [DAT](INFO): publishing transmit ping time
2025-01-08T17:36:28.256Z,1736357788.256 [DAT](INFO): DAT read: TxSync time:17:36:27.2895

2025-01-08T17:36:28.331Z,1736357788.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:28.340Z,1736357788.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.500000 m,
      deltaT: 3.528119 s,
      deltaX: -0.200001 m,
      approachRate: -0.056688 m/s,
      rangeRepo size: 4

2025-01-08T17:36:28.341Z,1736357788.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:28.743Z,1736357788.743 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:28.780Z,1736357788.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:29.166Z,1736357789.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:29.186Z,1736357789.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:29.626Z,1736357789.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:29.635Z,1736357789.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:30.026Z,1736357790.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:30.036Z,1736357790.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:30.588Z,1736357790.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:30.601Z,1736357790.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:31.021Z,1736357791.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:31.028Z,1736357791.028 [DAT](INFO): DAT read: Rx Time:17:36:29.7448

2025-01-08T17:36:31.029Z,1736357791.029 [DAT](INFO): Rx dataTimestamp_ set to:1736357791.028683
2025-01-08T17:36:31.032Z,1736357791.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:31.445Z,1736357791.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:31.457Z,1736357791.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:31.541Z,1736357791.541 [DAT](INFO): DAT read: Range 10 to 50 : 37.7 m  (Round-trip  50.3 ms) speed  0.0 m/s

2025-01-08T17:36:31.544Z,1736357791.544 [DAT](INFO): DAT read: user:291>

2025-01-08T17:36:31.545Z,1736357791.545 [DAT](INFO): DAT read: Tx time:17:36:30.8403

2025-01-08T17:36:31.546Z,1736357791.546 [DAT](INFO): Ping request sent.
2025-01-08T17:36:31.546Z,1736357791.546 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:36:31.546Z,1736357791.546 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-01-08T17:36:31.546Z,1736357791.546 [DAT](INFO): publishing transmit ping time
2025-01-08T17:36:31.547Z,1736357791.547 [DAT](INFO): publishing transmit ping time
2025-01-08T17:36:31.784Z,1736357791.784 [DAT](INFO): DAT read: TxSync time:17:36:30.8395

2025-01-08T17:36:31.857Z,1736357791.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:31.868Z,1736357791.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.700001 m,
      deltaT: 3.530489 s,
      deltaX: 0.200001 m,
      approachRate: 0.056650 m/s,
      rangeRepo size: 4

2025-01-08T17:36:31.869Z,1736357791.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:32.233Z,1736357792.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:32.242Z,1736357792.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:32.653Z,1736357792.653 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:32.661Z,1736357792.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:33.067Z,1736357793.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:33.084Z,1736357793.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:33.524Z,1736357793.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:33.582Z,1736357793.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:34.008Z,1736357794.008 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:34.018Z,1736357794.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:34.381Z,1736357794.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:34.390Z,1736357794.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:34.560Z,1736357794.560 [DAT](INFO): DAT read: Rx Time:17:36:33.2950

2025-01-08T17:36:34.561Z,1736357794.561 [DAT](INFO): Rx dataTimestamp_ set to:1736357794.560204
2025-01-08T17:36:34.810Z,1736357794.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:34.819Z,1736357794.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:35.062Z,1736357795.062 [DAT](INFO): DAT read: Range 10 to 50 : 37.8 m  (Round-trip  50.5 ms) speed  0.0 m/s

2025-01-08T17:36:35.064Z,1736357795.064 [DAT](INFO): DAT read: user:292>

2025-01-08T17:36:35.065Z,1736357795.065 [DAT](INFO): DAT read: Tx time:17:36:34.3903

2025-01-08T17:36:35.065Z,1736357795.065 [DAT](INFO): Ping request sent.
2025-01-08T17:36:35.065Z,1736357795.065 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:36:35.066Z,1736357795.066 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-01-08T17:36:35.066Z,1736357795.066 [DAT](INFO): publishing transmit ping time
2025-01-08T17:36:35.067Z,1736357795.067 [DAT](INFO): publishing transmit ping time
2025-01-08T17:36:35.212Z,1736357795.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:35.227Z,1736357795.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.799999 m,
      deltaT: 3.525628 s,
      deltaX: 0.099998 m,
      approachRate: 0.028363 m/s,
      rangeRepo size: 4

2025-01-08T17:36:35.227Z,1736357795.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:35.312Z,1736357795.312 [DAT](INFO): DAT read: TxSync time:17:36:34.3895

2025-01-08T17:36:35.660Z,1736357795.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:35.671Z,1736357795.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:36.066Z,1736357796.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:36.076Z,1736357796.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:36.487Z,1736357796.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:36.547Z,1736357796.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:36.896Z,1736357796.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:36.910Z,1736357796.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:37.277Z,1736357797.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:37.286Z,1736357797.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:37.713Z,1736357797.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:37.722Z,1736357797.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:38.085Z,1736357798.085 [DAT](INFO): DAT read: Rx Time:17:36:36.8455

2025-01-08T17:36:38.086Z,1736357798.086 [DAT](INFO): Rx dataTimestamp_ set to:1736357798.085308
2025-01-08T17:36:38.133Z,1736357798.133 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:38.141Z,1736357798.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:38.534Z,1736357798.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:38.543Z,1736357798.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:36:38.546Z,1736357798.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:38.589Z,1736357798.589 [DAT](INFO): DAT read: Range 10 to 50 : 38.1 m  (Round-trip  50.9 ms) speed  0.0 m/s

2025-01-08T17:36:38.590Z,1736357798.590 [DAT](INFO): DAT read: user:293>

2025-01-08T17:36:38.591Z,1736357798.591 [DAT](INFO): DAT read: Tx time:17:36:37.9404

2025-01-08T17:36:38.591Z,1736357798.591 [DAT](INFO): Ping request sent.
2025-01-08T17:36:38.591Z,1736357798.591 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:36:38.592Z,1736357798.592 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-01-08T17:36:38.592Z,1736357798.592 [DAT](INFO): publishing transmit ping time
2025-01-08T17:36:38.592Z,1736357798.592 [DAT](INFO): publishing transmit ping time
2025-01-08T17:36:38.841Z,1736357798.841 [DAT](INFO): DAT read: TxSync time:17:36:37.9396

2025-01-08T17:36:39.007Z,1736357799.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:39.018Z,1736357799.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.099998 m,
      deltaT: 3.527786 s,
      deltaX: 0.299999 m,
      approachRate: 0.085039 m/s,
      rangeRepo size: 4

2025-01-08T17:36:39.018Z,1736357799.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:39.391Z,1736357799.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:39.400Z,1736357799.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:39.811Z,1736357799.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:39.847Z,1736357799.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:40.201Z,1736357800.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:40.215Z,1736357800.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:40.600Z,1736357800.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:40.695Z,1736357800.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:41.118Z,1736357801.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:41.127Z,1736357801.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:41.575Z,1736357801.575 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:41.583Z,1736357801.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:41.613Z,1736357801.613 [DAT](INFO): DAT read: Rx Time:17:36:40.3955

2025-01-08T17:36:41.614Z,1736357801.614 [DAT](INFO): Rx dataTimestamp_ set to:1736357801.613480
2025-01-08T17:36:41.000Z,1736357802.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:42.008Z,1736357802.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:42.122Z,1736357802.122 [DAT](INFO): DAT read: Range 10 to 50 : 38.1 m  (Round-trip  50.9 ms) speed  0.0 m/s

2025-01-08T17:36:42.123Z,1736357802.123 [DAT](INFO): DAT read: user:294>

2025-01-08T17:36:42.124Z,1736357802.124 [DAT](INFO): DAT read: Tx time:17:36:41.4904

2025-01-08T17:36:42.124Z,1736357802.124 [DAT](INFO): Ping request sent.
2025-01-08T17:36:42.124Z,1736357802.124 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:36:42.125Z,1736357802.125 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-01-08T17:36:42.125Z,1736357802.125 [DAT](INFO): publishing transmit ping time
2025-01-08T17:36:42.125Z,1736357802.125 [DAT](INFO): publishing transmit ping time
2025-01-08T17:36:42.373Z,1736357802.373 [DAT](INFO): DAT read: TxSync time:17:36:41.4896

2025-01-08T17:36:42.382Z,1736357802.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:42.392Z,1736357802.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.099998 m,
      deltaT: 3.531660 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:36:42.393Z,1736357802.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:42.810Z,1736357802.810 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:42.819Z,1736357802.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:43.188Z,1736357803.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:43.196Z,1736357803.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:43.595Z,1736357803.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:43.608Z,1736357803.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:44.012Z,1736357804.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:44.022Z,1736357804.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:44.441Z,1736357804.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:44.471Z,1736357804.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:44.886Z,1736357804.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:44.896Z,1736357804.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:45.144Z,1736357805.144 [DAT](INFO): DAT read: Rx Time:17:36:43.9457

2025-01-08T17:36:45.145Z,1736357805.145 [DAT](INFO): Rx dataTimestamp_ set to:1736357805.144419
2025-01-08T17:36:45.260Z,1736357805.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:45.269Z,1736357805.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:45.650Z,1736357805.650 [DAT](INFO): DAT read: Range 10 to 50 : 38.3 m  (Round-trip  51.1 ms) speed  0.0 m/s

2025-01-08T17:36:45.651Z,1736357805.651 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-01-08T17:36:45.665Z,1736357805.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:45.685Z,1736357805.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.299999 m,
      deltaT: 3.528337 s,
      deltaX: 0.200001 m,
      approachRate: 0.056684 m/s,
      rangeRepo size: 4

2025-01-08T17:36:45.719Z,1736357805.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:46.182Z,1736357806.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:46.215Z,1736357806.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:46.646Z,1736357806.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:46.678Z,1736357806.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:47.012Z,1736357807.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:47.022Z,1736357807.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:47.402Z,1736357807.402 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:47.410Z,1736357807.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:47.831Z,1736357807.831 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:47.840Z,1736357807.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:48.200Z,1736357808.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:48.208Z,1736357808.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:48.607Z,1736357808.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:48.615Z,1736357808.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:49.036Z,1736357809.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:49.045Z,1736357809.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:49.416Z,1736357809.416 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:49.445Z,1736357809.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:49.857Z,1736357809.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:49.866Z,1736357809.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:50.221Z,1736357810.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:50.230Z,1736357810.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:50.639Z,1736357810.639 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:50.648Z,1736357810.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:51.057Z,1736357811.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:51.066Z,1736357811.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:51.440Z,1736357811.440 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:51.470Z,1736357811.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:51.889Z,1736357811.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:51.899Z,1736357811.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:52.253Z,1736357812.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:52.269Z,1736357812.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:52.645Z,1736357812.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:52.680Z,1736357812.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:53.066Z,1736357813.066 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:53.102Z,1736357813.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:53.462Z,1736357813.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:53.479Z,1736357813.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:53.922Z,1736357813.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:53.933Z,1736357813.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:53.972Z,1736357813.972 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:36:54.277Z,1736357814.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:54.286Z,1736357814.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:54.665Z,1736357814.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:54.680Z,1736357814.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:54.977Z,1736357814.977 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:36:55.088Z,1736357815.088 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:55.097Z,1736357815.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:55.484Z,1736357815.484 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:55.493Z,1736357815.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:55.961Z,1736357815.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:55.971Z,1736357815.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:56.279Z,1736357816.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:56.288Z,1736357816.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:56.694Z,1736357816.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:56.708Z,1736357816.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:57.114Z,1736357817.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:57.122Z,1736357817.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:57.497Z,1736357817.497 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:57.506Z,1736357817.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:58.003Z,1736357818.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:58.012Z,1736357818.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:58.312Z,1736357818.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:58.322Z,1736357818.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:58.710Z,1736357818.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:58.733Z,1736357818.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:59.132Z,1736357819.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:59.172Z,1736357819.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:36:59.533Z,1736357819.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:36:59.542Z,1736357819.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:00.002Z,1736357820.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:00.011Z,1736357820.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:00.341Z,1736357820.341 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:00.351Z,1736357820.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:00.738Z,1736357820.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:00.748Z,1736357820.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:01.160Z,1736357821.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:01.169Z,1736357821.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:01.584Z,1736357821.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:01.592Z,1736357821.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:02.004Z,1736357822.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:02.028Z,1736357822.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:02.407Z,1736357822.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:02.426Z,1736357822.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:02.748Z,1736357822.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:02.775Z,1736357822.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:03.185Z,1736357823.185 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:03.194Z,1736357823.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:03.569Z,1736357823.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:03.578Z,1736357823.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:04.073Z,1736357824.073 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:04.082Z,1736357824.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:04.404Z,1736357824.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:04.412Z,1736357824.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:04.805Z,1736357824.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:04.815Z,1736357824.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:05.269Z,1736357825.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:05.278Z,1736357825.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:05.636Z,1736357825.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:05.645Z,1736357825.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:06.108Z,1736357826.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:06.117Z,1736357826.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:06.431Z,1736357826.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:06.441Z,1736357826.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:06.838Z,1736357826.838 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:06.847Z,1736357826.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:07.270Z,1736357827.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:37:07.270Z,1736357827.270 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:07.278Z,1736357827.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:07.666Z,1736357827.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:37:07.666Z,1736357827.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:07.679Z,1736357827.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:08.151Z,1736357828.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:08.159Z,1736357828.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:08.526Z,1736357828.526 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:08.535Z,1736357828.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:08.928Z,1736357828.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:08.938Z,1736357828.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:09.364Z,1736357829.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:09.373Z,1736357829.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:09.736Z,1736357829.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:09.765Z,1736357829.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:10.183Z,1736357830.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:10.192Z,1736357830.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:10.549Z,1736357830.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:10.578Z,1736357830.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:10.948Z,1736357830.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:10.956Z,1736357830.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:11.378Z,1736357831.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:11.387Z,1736357831.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:11.765Z,1736357831.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:11.773Z,1736357831.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:12.209Z,1736357832.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:12.219Z,1736357832.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:12.581Z,1736357832.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:12.610Z,1736357832.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:12.979Z,1736357832.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:12.989Z,1736357832.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:13.411Z,1736357833.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:13.421Z,1736357833.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:13.781Z,1736357833.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:13.790Z,1736357833.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:14.241Z,1736357834.241 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:14.249Z,1736357834.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:14.584Z,1736357834.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:14.609Z,1736357834.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:14.988Z,1736357834.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:14.997Z,1736357834.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:15.500Z,1736357835.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:15.577Z,1736357835.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:15.837Z,1736357835.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:15.865Z,1736357835.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:16.286Z,1736357836.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:16.311Z,1736357836.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:16.645Z,1736357836.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:16.654Z,1736357836.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:17.049Z,1736357837.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:17.058Z,1736357837.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:17.486Z,1736357837.486 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:17.494Z,1736357837.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:17.874Z,1736357837.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:17.884Z,1736357837.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:18.303Z,1736357838.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:18.316Z,1736357838.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:18.697Z,1736357838.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:18.724Z,1736357838.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:19.085Z,1736357839.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:19.094Z,1736357839.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:19.507Z,1736357839.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:19.517Z,1736357839.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:19.888Z,1736357839.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:19.897Z,1736357839.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:20.321Z,1736357840.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:20.346Z,1736357840.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:20.720Z,1736357840.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:20.729Z,1736357840.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:21.104Z,1736357841.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:21.112Z,1736357841.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:21.522Z,1736357841.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:21.568Z,1736357841.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:21.910Z,1736357841.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:21.920Z,1736357841.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:22.346Z,1736357842.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:22.359Z,1736357842.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:22.760Z,1736357842.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:22.769Z,1736357842.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:23.162Z,1736357843.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:23.171Z,1736357843.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:23.595Z,1736357843.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:23.604Z,1736357843.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:23.966Z,1736357843.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:23.976Z,1736357843.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:24.397Z,1736357844.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:24.429Z,1736357844.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:24.783Z,1736357844.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:24.791Z,1736357844.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:25.096Z,1736357845.096 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:37:25.177Z,1736357845.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:25.186Z,1736357845.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:25.625Z,1736357845.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:25.635Z,1736357845.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:25.998Z,1736357845.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:26.007Z,1736357846.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:26.100Z,1736357846.100 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:37:26.434Z,1736357846.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:26.445Z,1736357846.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:26.799Z,1736357846.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:26.808Z,1736357846.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:27.202Z,1736357847.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:27.212Z,1736357847.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:27.627Z,1736357847.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:27.637Z,1736357847.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:28.006Z,1736357848.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:28.034Z,1736357848.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:28.455Z,1736357848.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:28.463Z,1736357848.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:28.814Z,1736357848.814 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:28.823Z,1736357848.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:29.224Z,1736357849.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:29.235Z,1736357849.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:29.644Z,1736357849.644 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:29.654Z,1736357849.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:30.025Z,1736357850.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:30.036Z,1736357850.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:30.476Z,1736357850.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:30.497Z,1736357850.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:30.832Z,1736357850.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:30.841Z,1736357850.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:31.236Z,1736357851.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:31.245Z,1736357851.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:31.670Z,1736357851.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:31.704Z,1736357851.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:32.043Z,1736357852.043 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:32.070Z,1736357852.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:32.508Z,1736357852.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:32.521Z,1736357852.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:32.853Z,1736357852.853 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:32.866Z,1736357852.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:33.271Z,1736357853.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:33.280Z,1736357853.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:33.696Z,1736357853.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:33.707Z,1736357853.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:34.067Z,1736357854.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:34.077Z,1736357854.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:34.534Z,1736357854.534 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:34.543Z,1736357854.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:34.888Z,1736357854.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:34.899Z,1736357854.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:35.275Z,1736357855.275 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:35.287Z,1736357855.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:35.727Z,1736357855.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:35.737Z,1736357855.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:36.090Z,1736357856.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:36.099Z,1736357856.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:36.611Z,1736357856.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:36.632Z,1736357856.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:36.904Z,1736357856.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:36.929Z,1736357856.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:37.311Z,1736357857.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:37.321Z,1736357857.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:37.757Z,1736357857.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:37.766Z,1736357857.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:38.118Z,1736357858.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:38.127Z,1736357858.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:38.603Z,1736357858.603 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:38.611Z,1736357858.611 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:37:38.613Z,1736357858.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:38.860Z,1736357858.860 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:37:38.860Z,1736357858.860 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:37:38.969Z,1736357858.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:38.978Z,1736357858.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:38.979Z,1736357858.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 38.30 m and bearing: 123.659459 deg. Not drifting fast enough.
2025-01-08T17:37:39.113Z,1736357859.113 [DAT](INFO): DAT read: user:295>

2025-01-08T17:37:39.114Z,1736357859.114 [DAT](INFO): DAT read: Tx time:17:37:38.2910

2025-01-08T17:37:39.115Z,1736357859.115 [DAT](INFO): Ping request sent.
2025-01-08T17:37:39.115Z,1736357859.115 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:37:39.115Z,1736357859.115 [DAT](INFO): DAT read: TxSync time:17:37:38.2902

2025-01-08T17:37:39.116Z,1736357859.116 [DAT](INFO): publishing transmit ping time
2025-01-08T17:37:39.116Z,1736357859.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001688
2025-01-08T17:37:39.365Z,1736357859.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250206
2025-01-08T17:37:39.370Z,1736357859.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:39.404Z,1736357859.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:39.406Z,1736357859.406 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-01-08T17:37:39.406Z,1736357859.406 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-01-08T17:37:39.406Z,1736357859.406 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-01-08T17:37:39.406Z,1736357859.406 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-01-08T17:37:39.616Z,1736357859.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501511
2025-01-08T17:37:39.811Z,1736357859.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:39.833Z,1736357859.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:39.868Z,1736357859.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753625
2025-01-08T17:37:40.120Z,1736357860.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005573
2025-01-08T17:37:40.196Z,1736357860.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:40.227Z,1736357860.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:40.373Z,1736357860.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257798
2025-01-08T17:37:40.623Z,1736357860.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:40.624Z,1736357860.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509645
2025-01-08T17:37:40.672Z,1736357860.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:40.876Z,1736357860.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761566
2025-01-08T17:37:40.984Z,1736357860.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:41.016Z,1736357861.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:41.128Z,1736357861.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013520
2025-01-08T17:37:41.381Z,1736357861.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266208
2025-01-08T17:37:41.394Z,1736357861.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:41.420Z,1736357861.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:41.634Z,1736357861.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519393
2025-01-08T17:37:41.884Z,1736357861.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769563
2025-01-08T17:37:41.928Z,1736357861.928 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00,  .0  +0.00,  20.00,1304.21
2025-01-08T17:37:41.935Z,1736357861.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-08T17:37:41.935Z,1736357861.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:41.944Z,1736357861.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:42.137Z,1736357862.137 [DAT](INFO): DAT read: Rx Time:17:37:40.7500

2025-01-08T17:37:42.138Z,1736357862.138 [DAT](INFO): Rx dataTimestamp_ set to:1736357862.137524
2025-01-08T17:37:42.138Z,1736357862.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023638
2025-01-08T17:37:42.283Z,1736357862.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.9 s old, using for 20.0 s.
2025-01-08T17:37:42.283Z,1736357862.283 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:42.291Z,1736357862.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:42.389Z,1736357862.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273854
2025-01-08T17:37:42.643Z,1736357862.643 [DAT](INFO): DAT read: Range 10 to 50 : 41.1 m  (Round-trip  54.8 ms) speed  0.1 m/s

2025-01-08T17:37:42.643Z,1736357862.643 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:37:42.753Z,1736357862.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:42.769Z,1736357862.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.099998 m,
      deltaT: 56.993139 s,
      deltaX: 2.799999 m,
      approachRate: 0.049129 m/s,
      rangeRepo size: 4

2025-01-08T17:37:42.770Z,1736357862.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:43.092Z,1736357863.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:43.101Z,1736357863.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:43.492Z,1736357863.492 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:43.501Z,1736357863.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:43.908Z,1736357863.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:43.934Z,1736357863.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:44.299Z,1736357864.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:44.307Z,1736357864.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:44.744Z,1736357864.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:44.754Z,1736357864.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:45.112Z,1736357865.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:45.140Z,1736357865.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:45.530Z,1736357865.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:45.555Z,1736357865.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:45.948Z,1736357865.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:45.957Z,1736357865.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:46.377Z,1736357866.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:46.421Z,1736357866.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:46.826Z,1736357866.826 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:46.836Z,1736357866.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:47.205Z,1736357867.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:47.216Z,1736357867.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:47.609Z,1736357867.609 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:47.667Z,1736357867.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:48.034Z,1736357868.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:48.042Z,1736357868.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:48.417Z,1736357868.417 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:48.443Z,1736357868.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:48.883Z,1736357868.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:48.922Z,1736357868.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:49.269Z,1736357869.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:49.278Z,1736357869.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:49.727Z,1736357869.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:49.740Z,1736357869.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:50.099Z,1736357870.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:37:50.099Z,1736357870.099 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:50.111Z,1736357870.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:50.475Z,1736357870.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.7 s old, using for 20.0 s.
2025-01-08T17:37:50.476Z,1736357870.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:50.485Z,1736357870.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:50.900Z,1736357870.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:50.918Z,1736357870.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:51.359Z,1736357871.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:51.368Z,1736357871.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:51.790Z,1736357871.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:51.801Z,1736357871.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:52.200Z,1736357872.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:52.218Z,1736357872.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:52.619Z,1736357872.619 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:52.628Z,1736357872.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:53.041Z,1736357873.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:53.050Z,1736357873.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:53.420Z,1736357873.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:53.429Z,1736357873.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:53.844Z,1736357873.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:53.873Z,1736357873.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:54.306Z,1736357874.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:54.340Z,1736357874.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:54.780Z,1736357874.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:54.790Z,1736357874.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:55.240Z,1736357875.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:55.254Z,1736357875.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:55.616Z,1736357875.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:55.645Z,1736357875.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:56.068Z,1736357876.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:56.077Z,1736357876.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:56.220Z,1736357876.220 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:37:56.425Z,1736357876.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:56.436Z,1736357876.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:56.861Z,1736357876.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:56.873Z,1736357876.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:57.223Z,1736357877.223 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:37:57.235Z,1736357877.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:57.244Z,1736357877.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:57.643Z,1736357877.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:57.653Z,1736357877.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:58.075Z,1736357878.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:58.085Z,1736357878.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:58.444Z,1736357878.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:58.453Z,1736357878.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:58.884Z,1736357878.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:58.913Z,1736357878.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:59.261Z,1736357879.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:59.270Z,1736357879.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:37:59.650Z,1736357879.650 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:37:59.659Z,1736357879.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:00.103Z,1736357880.103 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:00.123Z,1736357880.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:00.468Z,1736357880.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:00.477Z,1736357880.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:00.905Z,1736357880.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:00.914Z,1736357880.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:01.294Z,1736357881.294 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:01.303Z,1736357881.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:01.688Z,1736357881.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:01.702Z,1736357881.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:02.111Z,1736357882.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:02.119Z,1736357882.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:02.477Z,1736357882.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:02.486Z,1736357882.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:02.935Z,1736357882.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:02.968Z,1736357882.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:03.286Z,1736357883.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:03.294Z,1736357883.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:03.707Z,1736357883.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:03.716Z,1736357883.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:04.126Z,1736357884.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:04.136Z,1736357884.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:04.505Z,1736357884.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:04.514Z,1736357884.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:04.961Z,1736357884.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:04.971Z,1736357884.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:05.333Z,1736357885.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:05.346Z,1736357885.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:05.716Z,1736357885.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:05.744Z,1736357885.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:06.161Z,1736357886.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:06.170Z,1736357886.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:06.537Z,1736357886.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:06.546Z,1736357886.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:06.992Z,1736357886.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:07.001Z,1736357887.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:07.325Z,1736357887.325 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:07.334Z,1736357887.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:07.732Z,1736357887.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:07.742Z,1736357887.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:08.164Z,1736357888.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:08.194Z,1736357888.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:08.544Z,1736357888.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:08.554Z,1736357888.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:09.029Z,1736357889.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:09.072Z,1736357889.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:09.345Z,1736357889.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:09.373Z,1736357889.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:09.755Z,1736357889.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:09.781Z,1736357889.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:10.205Z,1736357890.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:10.214Z,1736357890.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:10.646Z,1736357890.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:10.654Z,1736357890.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:11.068Z,1736357891.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:11.099Z,1736357891.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:11.476Z,1736357891.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:11.485Z,1736357891.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:11.884Z,1736357891.884 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:11.893Z,1736357891.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:12.314Z,1736357892.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:12.322Z,1736357892.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:12.698Z,1736357892.698 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:12.728Z,1736357892.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:13.111Z,1736357893.111 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:13.140Z,1736357893.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:13.514Z,1736357893.514 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:13.522Z,1736357893.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:13.905Z,1736357893.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:13.935Z,1736357893.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:14.353Z,1736357894.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:14.371Z,1736357894.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:14.716Z,1736357894.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:14.725Z,1736357894.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:15.139Z,1736357895.139 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:15.149Z,1736357895.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:15.516Z,1736357895.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:15.524Z,1736357895.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:15.920Z,1736357895.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:15.930Z,1736357895.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:16.349Z,1736357896.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:16.377Z,1736357896.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:16.739Z,1736357896.739 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:16.750Z,1736357896.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:17.169Z,1736357897.169 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:17.178Z,1736357897.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:17.537Z,1736357897.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:17.547Z,1736357897.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:17.941Z,1736357897.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:17.951Z,1736357897.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:18.385Z,1736357898.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:18.419Z,1736357898.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:18.772Z,1736357898.772 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:18.781Z,1736357898.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:19.197Z,1736357899.197 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:19.206Z,1736357899.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:19.564Z,1736357899.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:19.572Z,1736357899.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:19.972Z,1736357899.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:19.981Z,1736357899.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:20.394Z,1736357900.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:20.404Z,1736357900.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:20.770Z,1736357900.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:20.781Z,1736357900.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:21.232Z,1736357901.232 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:21.241Z,1736357901.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:21.605Z,1736357901.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:21.616Z,1736357901.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:21.997Z,1736357901.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:22.007Z,1736357902.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:22.425Z,1736357902.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:22.448Z,1736357902.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:22.796Z,1736357902.796 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:22.805Z,1736357902.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:23.236Z,1736357903.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:23.270Z,1736357903.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:23.615Z,1736357903.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:23.631Z,1736357903.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:24.001Z,1736357904.001 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:24.009Z,1736357904.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:24.443Z,1736357904.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:24.476Z,1736357904.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:24.818Z,1736357904.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:24.847Z,1736357904.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:25.281Z,1736357905.281 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:25.290Z,1736357905.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:25.625Z,1736357905.625 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:25.634Z,1736357905.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:26.020Z,1736357906.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:26.048Z,1736357906.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:26.457Z,1736357906.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:26.470Z,1736357906.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:26.873Z,1736357906.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:26.883Z,1736357906.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:27.308Z,1736357907.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:27.317Z,1736357907.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:27.348Z,1736357907.348 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:38:27.730Z,1736357907.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:27.740Z,1736357907.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:28.153Z,1736357908.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:28.187Z,1736357908.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:28.352Z,1736357908.352 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:38:28.584Z,1736357908.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:28.592Z,1736357908.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:28.955Z,1736357908.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:28.984Z,1736357908.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:29.398Z,1736357909.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:29.409Z,1736357909.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:29.789Z,1736357909.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:29.811Z,1736357909.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:30.174Z,1736357910.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:30.183Z,1736357910.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:30.608Z,1736357910.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:30.618Z,1736357910.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:30.980Z,1736357910.980 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:30.989Z,1736357910.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:31.427Z,1736357911.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:31.439Z,1736357911.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:31.797Z,1736357911.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:31.805Z,1736357911.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:32.207Z,1736357912.207 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:32.217Z,1736357912.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:32.641Z,1736357912.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:32.650Z,1736357912.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:33.003Z,1736357913.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:33.012Z,1736357913.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:33.426Z,1736357913.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:33.435Z,1736357913.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:33.822Z,1736357913.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:33.851Z,1736357913.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:34.228Z,1736357914.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:34.237Z,1736357914.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:34.640Z,1736357914.640 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:34.649Z,1736357914.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:35.016Z,1736357915.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:35.040Z,1736357915.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:35.457Z,1736357915.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:35.471Z,1736357915.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:35.874Z,1736357915.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:35.883Z,1736357915.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:36.272Z,1736357916.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:36.298Z,1736357916.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:36.732Z,1736357916.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:36.740Z,1736357916.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:37.092Z,1736357917.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:37.101Z,1736357917.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:37.513Z,1736357917.513 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:37.521Z,1736357917.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:37.906Z,1736357917.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:37.914Z,1736357917.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:38.333Z,1736357918.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:38.352Z,1736357918.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:38.754Z,1736357918.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:38.761Z,1736357918.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:38:38.764Z,1736357918.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:38.896Z,1736357918.896 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:38:38.896Z,1736357918.896 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:38:39.112Z,1736357919.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:39.121Z,1736357919.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:39.151Z,1736357919.151 [DAT](INFO): DAT read: user:296>

2025-01-08T17:38:39.161Z,1736357919.161 [DAT](INFO): DAT read: Tx time:17:38:38.3416

2025-01-08T17:38:39.161Z,1736357919.161 [DAT](INFO): Ping request sent.
2025-01-08T17:38:39.161Z,1736357919.161 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:38:39.162Z,1736357919.162 [DAT](INFO): DAT read: TxSync time:17:38:38.3408

2025-01-08T17:38:39.163Z,1736357919.163 [DAT](INFO): publishing transmit ping time
2025-01-08T17:38:39.169Z,1736357919.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.007307
2025-01-08T17:38:39.403Z,1736357919.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.241532
2025-01-08T17:38:39.551Z,1736357919.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:39.560Z,1736357919.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:39.653Z,1736357919.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.491598
2025-01-08T17:38:39.904Z,1736357919.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743345
2025-01-08T17:38:39.920Z,1736357919.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:39.929Z,1736357919.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:40.156Z,1736357920.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995148
2025-01-08T17:38:40.321Z,1736357920.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:40.330Z,1736357920.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:40.412Z,1736357920.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250064
2025-01-08T17:38:40.660Z,1736357920.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499320
2025-01-08T17:38:40.761Z,1736357920.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:40.772Z,1736357920.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:40.913Z,1736357920.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751876
2025-01-08T17:38:41.127Z,1736357921.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:41.136Z,1736357921.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:41.164Z,1736357921.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003400
2025-01-08T17:38:41.424Z,1736357921.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262062
2025-01-08T17:38:41.558Z,1736357921.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:41.568Z,1736357921.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:41.673Z,1736357921.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512006
2025-01-08T17:38:41.924Z,1736357921.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763202
2025-01-08T17:38:41.937Z,1736357921.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:41.958Z,1736357921.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:42.177Z,1736357922.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015716
2025-01-08T17:38:42.339Z,1736357922.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:42.349Z,1736357922.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:42.433Z,1736357922.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271320
2025-01-08T17:38:42.681Z,1736357922.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519757
2025-01-08T17:38:42.799Z,1736357922.799 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:42.814Z,1736357922.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:42.933Z,1736357922.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771556
2025-01-08T17:38:43.156Z,1736357923.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:43.165Z,1736357923.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:43.185Z,1736357923.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023931
2025-01-08T17:38:43.441Z,1736357923.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.278946
2025-01-08T17:38:43.581Z,1736357923.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:43.590Z,1736357923.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:43.691Z,1736357923.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.529284
2025-01-08T17:38:43.943Z,1736357923.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.781160
2025-01-08T17:38:43.986Z,1736357923.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:43.995Z,1736357923.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:44.192Z,1736357924.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.031426
2025-01-08T17:38:44.365Z,1736357924.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:44.374Z,1736357924.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:44.446Z,1736357924.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.284862
2025-01-08T17:38:44.697Z,1736357924.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.535905
2025-01-08T17:38:44.811Z,1736357924.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:44.821Z,1736357924.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:44.948Z,1736357924.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.787268
2025-01-08T17:38:45.170Z,1736357925.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:45.179Z,1736357925.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:45.214Z,1736357925.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.052483
2025-01-08T17:38:45.467Z,1736357925.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.305568
2025-01-08T17:38:45.598Z,1736357925.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:45.606Z,1736357925.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:45.716Z,1736357925.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555406
2025-01-08T17:38:45.968Z,1736357925.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807314
2025-01-08T17:38:45.977Z,1736357925.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:46.008Z,1736357926.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:46.222Z,1736357926.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.060596
2025-01-08T17:38:46.381Z,1736357926.381 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:46.390Z,1736357926.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:46.472Z,1736357926.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311295
2025-01-08T17:38:46.724Z,1736357926.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563207
2025-01-08T17:38:46.848Z,1736357926.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:46.856Z,1736357926.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:46.976Z,1736357926.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815270
2025-01-08T17:38:47.188Z,1736357927.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:47.216Z,1736357927.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:47.230Z,1736357927.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.068623
2025-01-08T17:38:47.481Z,1736357927.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319502
2025-01-08T17:38:47.626Z,1736357927.626 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:47.636Z,1736357927.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:47.732Z,1736357927.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571267
2025-01-08T17:38:47.984Z,1736357927.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823336
2025-01-08T17:38:48.004Z,1736357928.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:48.014Z,1736357928.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:48.237Z,1736357928.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075924
2025-01-08T17:38:48.408Z,1736357928.408 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:48.418Z,1736357928.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:48.491Z,1736357928.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330095
2025-01-08T17:38:48.740Z,1736357928.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579195
2025-01-08T17:38:48.841Z,1736357928.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:48.853Z,1736357928.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:48.992Z,1736357928.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831261
2025-01-08T17:38:49.209Z,1736357929.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:49.219Z,1736357929.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:49.244Z,1736357929.244 [DAT](INFO): Reached modem response timeout
2025-01-08T17:38:49.647Z,1736357929.647 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:49.656Z,1736357929.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:50.000Z,1736357930.000 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:38:50.001Z,1736357930.001 [DAT](INFO): response not received
2025-01-08T17:38:50.001Z,1736357930.001 [DAT](ERROR): No response from remote modem.
2025-01-08T17:38:50.017Z,1736357930.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:50.026Z,1736357930.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:50.438Z,1736357930.438 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:50.468Z,1736357930.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:50.891Z,1736357930.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:50.900Z,1736357930.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:51.239Z,1736357931.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:51.273Z,1736357931.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:51.702Z,1736357931.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:51.711Z,1736357931.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:52.064Z,1736357932.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:52.072Z,1736357932.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:52.462Z,1736357932.462 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:52.470Z,1736357932.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:52.894Z,1736357932.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:52.903Z,1736357932.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:53.264Z,1736357933.264 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:53.274Z,1736357933.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:53.742Z,1736357933.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:53.767Z,1736357933.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:54.135Z,1736357934.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:54.143Z,1736357934.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:54.517Z,1736357934.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:54.525Z,1736357934.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:54.962Z,1736357934.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:54.984Z,1736357934.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:55.332Z,1736357935.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:55.341Z,1736357935.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:55.753Z,1736357935.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:55.762Z,1736357935.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:56.149Z,1736357936.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:56.158Z,1736357936.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:56.536Z,1736357936.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:56.545Z,1736357936.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:56.955Z,1736357936.955 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3768,-32768,V
2025-01-08T17:38:56.962Z,1736357936.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:38:56.963Z,1736357936.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:56.971Z,1736357936.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:57.353Z,1736357937.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:38:57.353Z,1736357937.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:57.363Z,1736357937.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:57.777Z,1736357937.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:57.786Z,1736357937.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:58.152Z,1736357938.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:58.160Z,1736357938.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:58.484Z,1736357938.484 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:38:58.561Z,1736357938.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:58.571Z,1736357938.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:58.994Z,1736357938.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:59.002Z,1736357939.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:59.364Z,1736357939.364 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:59.389Z,1736357939.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:38:59.488Z,1736357939.488 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:38:59.804Z,1736357939.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:38:59.817Z,1736357939.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:00.180Z,1736357940.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:00.188Z,1736357940.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:00.591Z,1736357940.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:00.600Z,1736357940.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:01.035Z,1736357941.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:01.084Z,1736357941.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:01.496Z,1736357941.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:01.505Z,1736357941.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:01.954Z,1736357941.954 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:01.964Z,1736357941.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:02.331Z,1736357942.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:02.339Z,1736357942.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:02.797Z,1736357942.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:02.814Z,1736357942.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:03.181Z,1736357943.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:03.192Z,1736357943.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:03.536Z,1736357943.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:03.549Z,1736357943.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:03.968Z,1736357943.968 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:03.976Z,1736357943.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:04.356Z,1736357944.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:04.367Z,1736357944.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:04.759Z,1736357944.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:04.830Z,1736357944.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:05.271Z,1736357945.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:05.281Z,1736357945.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:05.663Z,1736357945.663 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:05.677Z,1736357945.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:06.098Z,1736357946.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:06.106Z,1736357946.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:06.475Z,1736357946.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:06.485Z,1736357946.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:06.930Z,1736357946.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:06.938Z,1736357946.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:07.286Z,1736357947.286 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:07.295Z,1736357947.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:07.706Z,1736357947.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:07.715Z,1736357947.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:08.140Z,1736357948.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:08.158Z,1736357948.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:08.496Z,1736357948.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:08.504Z,1736357948.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:08.945Z,1736357948.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:08.973Z,1736357948.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:09.332Z,1736357949.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:09.341Z,1736357949.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:09.710Z,1736357949.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:09.719Z,1736357949.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:10.150Z,1736357950.150 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:10.170Z,1736357950.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:10.512Z,1736357950.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:10.542Z,1736357950.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:10.960Z,1736357950.960 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:10.969Z,1736357950.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:11.333Z,1736357951.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:11.341Z,1736357951.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:11.729Z,1736357951.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:11.738Z,1736357951.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:12.176Z,1736357952.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:12.201Z,1736357952.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:12.532Z,1736357952.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:12.541Z,1736357952.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:13.002Z,1736357953.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:13.011Z,1736357953.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:13.367Z,1736357953.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:13.376Z,1736357953.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:13.744Z,1736357953.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:13.771Z,1736357953.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:14.193Z,1736357954.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:14.206Z,1736357954.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:14.561Z,1736357954.561 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:14.570Z,1736357954.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:15.025Z,1736357955.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:15.035Z,1736357955.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:15.362Z,1736357955.362 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:15.374Z,1736357955.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:15.768Z,1736357955.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:15.777Z,1736357955.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:16.191Z,1736357956.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:16.200Z,1736357956.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:16.582Z,1736357956.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:16.590Z,1736357956.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:17.035Z,1736357957.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:17.043Z,1736357957.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:17.399Z,1736357957.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:17.432Z,1736357957.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:17.806Z,1736357957.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:17.819Z,1736357957.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:18.261Z,1736357958.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:18.270Z,1736357958.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:18.630Z,1736357958.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:18.638Z,1736357958.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:19.092Z,1736357959.092 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:19.101Z,1736357959.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:19.476Z,1736357959.476 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:19.485Z,1736357959.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:19.882Z,1736357959.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:19.890Z,1736357959.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:20.311Z,1736357960.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:20.319Z,1736357960.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:20.707Z,1736357960.707 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:20.716Z,1736357960.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:21.126Z,1736357961.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:21.135Z,1736357961.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:21.508Z,1736357961.508 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:21.518Z,1736357961.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:21.920Z,1736357961.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:21.929Z,1736357961.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:22.353Z,1736357962.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:22.361Z,1736357962.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:22.717Z,1736357962.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:22.725Z,1736357962.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:23.136Z,1736357963.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:23.145Z,1736357963.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:23.540Z,1736357963.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:23.549Z,1736357963.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:23.923Z,1736357963.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:23.949Z,1736357963.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:24.367Z,1736357964.367 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:24.377Z,1736357964.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:24.736Z,1736357964.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:24.745Z,1736357964.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:25.162Z,1736357965.162 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:25.171Z,1736357965.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:25.540Z,1736357965.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:25.566Z,1736357965.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:25.946Z,1736357965.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:25.954Z,1736357965.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:26.403Z,1736357966.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:26.420Z,1736357966.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:26.749Z,1736357966.749 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:26.781Z,1736357966.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:27.202Z,1736357967.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:27.210Z,1736357967.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:27.568Z,1736357967.568 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:27.577Z,1736357967.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:27.990Z,1736357967.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:27.000Z,1736357968.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:28.396Z,1736357968.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:28.405Z,1736357968.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:28.773Z,1736357968.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:28.783Z,1736357968.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:29.221Z,1736357969.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:29.230Z,1736357969.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:29.584Z,1736357969.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:29.597Z,1736357969.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:29.608Z,1736357969.608 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:39:29.984Z,1736357969.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:30.008Z,1736357970.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:30.407Z,1736357970.407 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:30.434Z,1736357970.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:30.614Z,1736357970.614 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:39:30.790Z,1736357970.790 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:30.800Z,1736357970.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:31.260Z,1736357971.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:31.278Z,1736357971.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:31.605Z,1736357971.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:31.639Z,1736357971.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:32.000Z,1736357972.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:32.008Z,1736357972.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:32.430Z,1736357972.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:32.438Z,1736357972.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:32.813Z,1736357972.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:32.837Z,1736357972.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:33.272Z,1736357973.272 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:33.282Z,1736357973.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:33.624Z,1736357973.624 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:33.637Z,1736357973.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:34.026Z,1736357974.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:34.034Z,1736357974.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:34.448Z,1736357974.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:34.457Z,1736357974.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:34.832Z,1736357974.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:34.840Z,1736357974.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:35.303Z,1736357975.303 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:35.314Z,1736357975.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:35.648Z,1736357975.648 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:35.656Z,1736357975.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:36.058Z,1736357976.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:36.068Z,1736357976.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:36.482Z,1736357976.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:36.490Z,1736357976.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:36.851Z,1736357976.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:36.860Z,1736357976.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:37.336Z,1736357977.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:37.345Z,1736357977.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:37.668Z,1736357977.668 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:37.709Z,1736357977.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:38.069Z,1736357978.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:38.078Z,1736357978.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:38.499Z,1736357978.499 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:38.508Z,1736357978.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:38.868Z,1736357978.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:38.874Z,1736357978.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:39:38.877Z,1736357978.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:38.920Z,1736357978.920 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:39:38.920Z,1736357978.920 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:39:39.172Z,1736357979.172 [DAT](INFO): DAT read: user:297>

2025-01-08T17:39:39.173Z,1736357979.173 [DAT](INFO): DAT read: Tx time:17:39:38.3921

2025-01-08T17:39:39.173Z,1736357979.173 [DAT](INFO): Ping request sent.
2025-01-08T17:39:39.173Z,1736357979.173 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:39:39.173Z,1736357979.173 [DAT](INFO): publishing transmit ping time
2025-01-08T17:39:39.174Z,1736357979.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-01-08T17:39:39.373Z,1736357979.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:39.383Z,1736357979.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:39.424Z,1736357979.424 [DAT](INFO): DAT read: TxSync time:17:39:38.3914

2025-01-08T17:39:39.425Z,1736357979.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251945
2025-01-08T17:39:39.677Z,1736357979.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503851
2025-01-08T17:39:39.691Z,1736357979.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:39.719Z,1736357979.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:39.928Z,1736357979.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755152
2025-01-08T17:39:40.081Z,1736357980.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:40.090Z,1736357980.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:40.181Z,1736357980.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007676
2025-01-08T17:39:40.432Z,1736357980.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258953
2025-01-08T17:39:40.509Z,1736357980.509 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:40.519Z,1736357980.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:40.685Z,1736357980.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511566
2025-01-08T17:39:40.887Z,1736357980.887 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:40.896Z,1736357980.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:40.937Z,1736357980.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763451
2025-01-08T17:39:41.188Z,1736357981.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014916
2025-01-08T17:39:41.357Z,1736357981.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:41.374Z,1736357981.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:41.441Z,1736357981.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267382
2025-01-08T17:39:41.694Z,1736357981.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520318
2025-01-08T17:39:41.770Z,1736357981.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:41.783Z,1736357981.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:41.946Z,1736357981.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772295
2025-01-08T17:39:42.101Z,1736357982.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:42.110Z,1736357982.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:42.196Z,1736357982.196 [DAT](INFO): DAT read: Rx Time:17:39:41.0323

2025-01-08T17:39:42.197Z,1736357982.197 [DAT](INFO): Rx dataTimestamp_ set to:1736357982.196643
2025-01-08T17:39:42.197Z,1736357982.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024149
2025-01-08T17:39:42.449Z,1736357982.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275235
2025-01-08T17:39:42.544Z,1736357982.544 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:42.553Z,1736357982.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:42.704Z,1736357982.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529581
2025-01-08T17:39:42.919Z,1736357982.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:42.928Z,1736357982.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-01-08T17:39:42.963Z,1736357982.963 [DAT](INFO): DAT read: 17:39:41.0323 LVL= 21920, 15409, 16306, 25779, AGC= 66, IDX= 221, 0.23, 1.117,-3.014, 1.610, 1.124, PHS= 0.081, 2.192, 0.483, RAW= 319.7, -26.7, CAL= 320.3, -40.4, ROT= 189.7,  40.4

2025-01-08T17:39:42.965Z,1736357982.965 [DAT](INFO): got valid direction response:
 17:39:41.0323 LVL= 21920, 15409, 16306, 25779, AGC= 66, IDX= 221, 0.23, 1.117,-3.014, 1.610, 1.124, PHS= 0.081, 2.192, 0.483, RAW= 319.7, -26.7, CAL= 320.3, -40.4, ROT= 189.7,  40.4

2025-01-08T17:39:42.966Z,1736357982.966 [DAT](INFO): DAT read: Bearing 189.7,  40.4 (Local)

2025-01-08T17:39:42.967Z,1736357982.967 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.7,  40.4 (Local)

2025-01-08T17:39:42.969Z,1736357982.969 [DAT](INFO): DAT read: Range 10 to 50 : 177.0 m  (Round-trip  236.0 ms) speed -0.8 m/s

2025-01-08T17:39:42.970Z,1736357982.970 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:39:42.972Z,1736357982.972 [DAT](INFO): direction in FSK: [-0.750651,-0.128311,-0.648120]
2025-01-08T17:39:42.972Z,1736357982.972 [DAT](INFO): publishing direction and range info
2025-01-08T17:39:43.333Z,1736357983.333 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:43.407Z,1736357983.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 177.000000 m,
      deltaT: 120.310631 s,
      deltaX: 135.899994 m,
      approachRate: 1.129576 m/s,
      rangeRepo size: 4

2025-01-08T17:39:43.417Z,1736357983.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 177.000000 m,
      bearing: 127.976473 deg,
      lat: 36.904131 deg,
      lon: -122.119117 deg,
      deltaT: 375.211747 s,
      deltaX: 151.199997 m,
      approachRate: 0.402972 m/s,
      posRepo size: 4

2025-01-08T17:39:43.418Z,1736357983.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-01-08T17:39:43.418Z,1736357983.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 177.00 m. Resuming terminal guidance.
2025-01-08T17:39:43.418Z,1736357983.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-01-08T17:39:43.776Z,1736357983.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:43.805Z,1736357983.805 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-01-08T17:39:43.805Z,1736357983.805 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-01-08T17:39:43.805Z,1736357983.805 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-01-08T17:39:43.807Z,1736357983.807 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 177.000000 m (mode  1.000000 count ).
2025-01-08T17:39:43.807Z,1736357983.807 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-01-08T17:39:43.807Z,1736357983.807 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-01-08T17:39:44.121Z,1736357984.121 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:44.128Z,1736357984.128 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-01-08T17:39:44.128Z,1736357984.128 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-01-08T17:39:44.129Z,1736357984.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:39:44.221Z,1736357984.221 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:39:44.221Z,1736357984.221 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:39:44.221Z,1736357984.221 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:39:44.472Z,1736357984.472 [DAT](INFO): DAT read: user:298>

2025-01-08T17:39:44.473Z,1736357984.473 [DAT](INFO): DAT read: Tx time:17:39:43.6921

2025-01-08T17:39:44.473Z,1736357984.473 [DAT](INFO): Ping request sent.
2025-01-08T17:39:44.473Z,1736357984.473 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:39:44.474Z,1736357984.474 [DAT](INFO): publishing transmit ping time
2025-01-08T17:39:44.474Z,1736357984.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727
2025-01-08T17:39:44.597Z,1736357984.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:44.603Z,1736357984.603 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-01-08T17:39:44.603Z,1736357984.603 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-01-08T17:39:44.729Z,1736357984.729 [DAT](INFO): DAT read: TxSync time:17:39:43.6914

2025-01-08T17:39:44.730Z,1736357984.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256458
2025-01-08T17:39:44.948Z,1736357984.948 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:44.954Z,1736357984.954 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-01-08T17:39:44.954Z,1736357984.954 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-01-08T17:39:44.954Z,1736357984.954 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-01-08T17:39:44.954Z,1736357984.954 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-01-08T17:39:44.980Z,1736357984.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506830
2025-01-08T17:39:45.232Z,1736357985.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758743
2025-01-08T17:39:45.345Z,1736357985.345 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:45.486Z,1736357985.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.012075
2025-01-08T17:39:45.736Z,1736357985.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262839
2025-01-08T17:39:45.766Z,1736357985.766 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:45.989Z,1736357985.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515093
2025-01-08T17:39:46.157Z,1736357986.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:46.165Z,1736357986.165 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:39:46.240Z,1736357986.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766968
2025-01-08T17:39:46.492Z,1736357986.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018752
2025-01-08T17:39:46.576Z,1736357986.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:46.744Z,1736357986.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270698
2025-01-08T17:39:46.955Z,1736357986.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:46.998Z,1736357986.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524047
2025-01-08T17:39:47.248Z,1736357987.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774809
2025-01-08T17:39:47.356Z,1736357987.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:47.503Z,1736357987.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028884
2025-01-08T17:39:47.753Z,1736357987.753 [DAT](INFO): DAT read: Rx Time:17:39:46.3359

2025-01-08T17:39:47.753Z,1736357987.753 [DAT](INFO): Rx dataTimestamp_ set to:1736357987.752703
2025-01-08T17:39:47.753Z,1736357987.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280016
2025-01-08T17:39:47.823Z,1736357987.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:48.007Z,1736357988.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532915
2025-01-08T17:39:48.164Z,1736357988.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:48.170Z,1736357988.170 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:39:48.266Z,1736357988.266 [DAT](INFO): DAT read: 17:39:46.3359 LVL= 22848, 16321, 20002, 32755, AGC= 59, IDX= 479,-0.01, 0.605, 2.519, 0.688, 0.349, PHS= 0.344, 2.218, 0.336, RAW= 330.2, -28.6, CAL= 333.3, -42.0, ROT= 176.7,  42.0

2025-01-08T17:39:48.272Z,1736357988.272 [DAT](INFO): got valid direction response:
 17:39:46.3359 LVL= 22848, 16321, 20002, 32755, AGC= 59, IDX= 479,-0.01, 0.605, 2.519, 0.688, 0.349, PHS= 0.344, 2.218, 0.336, RAW= 330.2, -28.6, CAL= 333.3, -42.0, ROT= 176.7,  42.0

2025-01-08T17:39:48.273Z,1736357988.273 [DAT](INFO): DAT read: Bearing 176.7,  42.0 (Local)

2025-01-08T17:39:48.274Z,1736357988.274 [DAT](INFO): Local bearing/azimuth received:
 Bearing 176.7,  42.0 (Local)

2025-01-08T17:39:48.275Z,1736357988.275 [DAT](INFO): DAT read: Range 10 to 50 : 179.7 m  (Round-trip  239.6 ms) speed -0.4 m/s

2025-01-08T17:39:48.276Z,1736357988.276 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:39:48.278Z,1736357988.278 [DAT](INFO): direction in FSK: [-0.741913,0.042778,-0.669131]
2025-01-08T17:39:48.278Z,1736357988.278 [DAT](INFO): publishing direction and range info
2025-01-08T17:39:48.298Z,1736357988.298 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:39:48.298Z,1736357988.298 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:39:48.298Z,1736357988.298 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:39:48.508Z,1736357988.508 [DAT](INFO): DAT read: user:299>

2025-01-08T17:39:48.509Z,1736357988.509 [DAT](INFO): DAT read: Tx time:17:39:47.7422

2025-01-08T17:39:48.509Z,1736357988.509 [DAT](INFO): Ping request sent.
2025-01-08T17:39:48.509Z,1736357988.509 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:39:48.509Z,1736357988.509 [DAT](INFO): publishing transmit ping time
2025-01-08T17:39:48.511Z,1736357988.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001368
2025-01-08T17:39:48.595Z,1736357988.595 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:48.609Z,1736357988.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 179.699997 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-01-08T17:39:48.613Z,1736357988.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 179.699997 m,
      bearing: 112.487702 deg,
      lat: 36.904131 deg,
      lon: -122.119117 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-01-08T17:39:48.614Z,1736357988.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:48.637Z,1736357988.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 119.792244 m,
      bearing: 126.608788 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 123.659459 deg,
      new cmd heading: 126.608788 deg.

2025-01-08T17:39:48.638Z,1736357988.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.209740 target range: 179.699997 and range: 179.70 m.
2025-01-08T17:39:48.761Z,1736357988.761 [DAT](INFO): DAT read: TxSync time:17:39:47.7415

2025-01-08T17:39:48.762Z,1736357988.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252887
2025-01-08T17:39:48.970Z,1736357988.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:48.986Z,1736357988.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:48.988Z,1736357988.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 120.082520 m,
      bearing: 126.585260 deg,
      approach rate: 0.769643 m/s,
      LOS rate: -0.062232 deg/s,
      cmd heading: 126.608785 deg,
      new cmd heading: 126.585260 deg.

2025-01-08T17:39:48.989Z,1736357988.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.209330 target range: 179.699997 and range: 179.70 m.
2025-01-08T17:39:49.012Z,1736357989.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503000
2025-01-08T17:39:49.264Z,1736357989.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755073
2025-01-08T17:39:49.385Z,1736357989.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:49.457Z,1736357989.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:49.482Z,1736357989.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 120.402626 m,
      bearing: 126.553916 deg,
      approach rate: 0.688963 m/s,
      LOS rate: -0.067282 deg/s,
      cmd heading: 126.585262 deg,
      new cmd heading: 126.553916 deg.

2025-01-08T17:39:49.483Z,1736357989.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.208782 target range: 179.699997 and range: 179.70 m.
2025-01-08T17:39:49.517Z,1736357989.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007319
2025-01-08T17:39:49.768Z,1736357989.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259088
2025-01-08T17:39:49.800Z,1736357989.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:49.809Z,1736357989.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:49.813Z,1736357989.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 120.702759 m,
      bearing: 126.521909 deg,
      approach rate: 0.836934 m/s,
      LOS rate: -0.089031 deg/s,
      cmd heading: 126.553911 deg,
      new cmd heading: 126.521909 deg.

2025-01-08T17:39:49.814Z,1736357989.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.208224 target range: 179.699997 and range: 179.70 m.
2025-01-08T17:39:50.021Z,1736357990.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511401
2025-01-08T17:39:50.180Z,1736357990.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:50.202Z,1736357990.202 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:39:50.205Z,1736357990.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:50.211Z,1736357990.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 120.974617 m,
      bearing: 126.488413 deg,
      approach rate: 0.686887 m/s,
      LOS rate: -0.084443 deg/s,
      cmd heading: 126.521905 deg,
      new cmd heading: 126.488413 deg.

2025-01-08T17:39:50.212Z,1736357990.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.207639 target range: 179.699997 and range: 179.70 m.
2025-01-08T17:39:50.272Z,1736357990.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763198
2025-01-08T17:39:50.524Z,1736357990.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014955
2025-01-08T17:39:50.608Z,1736357990.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:50.617Z,1736357990.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:50.621Z,1736357990.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 121.258484 m,
      bearing: 126.451581 deg,
      approach rate: 0.687680 m/s,
      LOS rate: -0.089017 deg/s,
      cmd heading: 126.488410 deg,
      new cmd heading: 126.451581 deg.

2025-01-08T17:39:50.622Z,1736357990.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.206996 target range: 179.699997 and range: 179.70 m.
2025-01-08T17:39:50.777Z,1736357990.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267106
2025-01-08T17:39:50.996Z,1736357990.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:51.008Z,1736357991.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:51.014Z,1736357991.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 121.513512 m,
      bearing: 126.414380 deg,
      approach rate: 0.654706 m/s,
      LOS rate: -0.095304 deg/s,
      cmd heading: 126.451581 deg,
      new cmd heading: 126.414380 deg.

2025-01-08T17:39:51.017Z,1736357991.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.206347 target range: 179.699997 and range: 179.70 m.
2025-01-08T17:39:51.036Z,1736357991.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527164
2025-01-08T17:39:51.288Z,1736357991.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778956
2025-01-08T17:39:51.392Z,1736357991.392 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:51.401Z,1736357991.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:51.404Z,1736357991.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 121.771103 m,
      bearing: 126.372680 deg,
      approach rate: 0.653602 m/s,
      LOS rate: -0.105584 deg/s,
      cmd heading: 126.414384 deg,
      new cmd heading: 126.372680 deg.

2025-01-08T17:39:51.405Z,1736357991.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.205619 target range: 179.699997 and range: 179.70 m.
2025-01-08T17:39:51.542Z,1736357991.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032375
2025-01-08T17:39:51.792Z,1736357991.792 [DAT](INFO): DAT read: Rx Time:17:39:50.3879

2025-01-08T17:39:51.793Z,1736357991.793 [DAT](INFO): Rx dataTimestamp_ set to:1736357991.792388
2025-01-08T17:39:51.794Z,1736357991.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284000
2025-01-08T17:39:51.841Z,1736357991.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:51.853Z,1736357991.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:51.855Z,1736357991.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 122.035027 m,
      bearing: 126.324508 deg,
      approach rate: 0.584656 m/s,
      LOS rate: -0.106482 deg/s,
      cmd heading: 126.372679 deg,
      new cmd heading: 126.324508 deg.

2025-01-08T17:39:51.856Z,1736357991.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.204779 target range: 179.699997 and range: 179.70 m.
2025-01-08T17:39:52.049Z,1736357992.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.539180
2025-01-08T17:39:52.209Z,1736357992.209 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:52.217Z,1736357992.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:39:52.219Z,1736357992.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:52.221Z,1736357992.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 122.251007 m,
      bearing: 126.281508 deg,
      approach rate: 0.589793 m/s,
      LOS rate: -0.117215 deg/s,
      cmd heading: 126.324513 deg,
      new cmd heading: 126.281508 deg.

2025-01-08T17:39:52.222Z,1736357992.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.204028 target range: 179.699997 and range: 179.70 m.
2025-01-08T17:39:52.301Z,1736357992.301 [DAT](INFO): DAT read: Range 10 to 50 : 181.2 m  (Round-trip  241.6 ms) speed -0.9 m/s

2025-01-08T17:39:52.302Z,1736357992.302 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:39:52.303Z,1736357992.303 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:39:52.303Z,1736357992.303 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:39:52.303Z,1736357992.303 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:39:52.554Z,1736357992.554 [DAT](INFO): DAT read: user:300>

2025-01-08T17:39:52.555Z,1736357992.555 [DAT](INFO): DAT read: Tx time:17:39:51.7422

2025-01-08T17:39:52.555Z,1736357992.555 [DAT](INFO): Ping request sent.
2025-01-08T17:39:52.556Z,1736357992.556 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:39:52.556Z,1736357992.556 [DAT](INFO): DAT read: TxSync time:17:39:51.7415

2025-01-08T17:39:52.557Z,1736357992.557 [DAT](INFO): publishing transmit ping time
2025-01-08T17:39:52.557Z,1736357992.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001525
2025-01-08T17:39:52.661Z,1736357992.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:52.675Z,1736357992.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 181.199997 m,
      deltaT: 4.043301 s,
      deltaX: 1.500000 m,
      approachRate: 0.370984 m/s,
      rangeRepo size: 2

2025-01-08T17:39:52.676Z,1736357992.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:52.681Z,1736357992.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 122.494125 m,
      bearing: 126.233748 deg,
      approach rate: 0.534749 m/s,
      LOS rate: -0.104843 deg/s,
      cmd heading: 126.281510 deg,
      new cmd heading: 126.233748 deg.

2025-01-08T17:39:52.683Z,1736357992.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.203195 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:39:52.804Z,1736357992.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248852
2025-01-08T17:39:53.058Z,1736357993.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502102
2025-01-08T17:39:53.120Z,1736357993.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:53.137Z,1736357993.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:53.140Z,1736357993.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 122.735725 m,
      bearing: 126.178038 deg,
      approach rate: 0.520696 m/s,
      LOS rate: -0.119830 deg/s,
      cmd heading: 126.233753 deg,
      new cmd heading: 126.178038 deg.

2025-01-08T17:39:53.141Z,1736357993.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.202222 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:39:53.308Z,1736357993.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752629
2025-01-08T17:39:53.561Z,1736357993.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005501
2025-01-08T17:39:53.591Z,1736357993.591 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:53.618Z,1736357993.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:53.625Z,1736357993.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 122.960045 m,
      bearing: 126.122720 deg,
      approach rate: 0.466585 m/s,
      LOS rate: -0.114851 deg/s,
      cmd heading: 126.178032 deg,
      new cmd heading: 126.122720 deg.

2025-01-08T17:39:53.626Z,1736357993.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201257 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:39:53.813Z,1736357993.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257263
2025-01-08T17:39:54.049Z,1736357994.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:54.066Z,1736357994.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510402
2025-01-08T17:39:54.080Z,1736357994.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:54.082Z,1736357994.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 123.171402 m,
      bearing: 126.063243 deg,
      approach rate: 0.457817 m/s,
      LOS rate: -0.128611 deg/s,
      cmd heading: 126.122722 deg,
      new cmd heading: 126.063243 deg.

2025-01-08T17:39:54.087Z,1736357994.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.200219 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:39:54.317Z,1736357994.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760958
2025-01-08T17:39:54.444Z,1736357994.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:54.451Z,1736357994.451 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:39:54.456Z,1736357994.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:54.461Z,1736357994.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 123.350349 m,
      bearing: 126.009810 deg,
      approach rate: 0.478574 m/s,
      LOS rate: -0.142692 deg/s,
      cmd heading: 126.063244 deg,
      new cmd heading: 126.009810 deg.

2025-01-08T17:39:54.462Z,1736357994.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.199286 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:39:54.570Z,1736357994.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013772
2025-01-08T17:39:54.820Z,1736357994.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264672
2025-01-08T17:39:54.890Z,1736357994.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:54.903Z,1736357994.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:54.906Z,1736357994.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 123.542099 m,
      bearing: 125.951973 deg,
      approach rate: 0.426995 m/s,
      LOS rate: -0.128594 deg/s,
      cmd heading: 126.009805 deg,
      new cmd heading: 125.951973 deg.

2025-01-08T17:39:54.907Z,1736357994.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.198277 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:39:55.075Z,1736357995.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518825
2025-01-08T17:39:55.248Z,1736357995.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:55.256Z,1736357995.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:55.258Z,1736357995.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 123.689919 m,
      bearing: 125.901820 deg,
      approach rate: 0.418602 m/s,
      LOS rate: -0.141857 deg/s,
      cmd heading: 125.951967 deg,
      new cmd heading: 125.901820 deg.

2025-01-08T17:39:55.275Z,1736357995.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.197401 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:39:55.324Z,1736357995.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768636
2025-01-08T17:39:55.577Z,1736357995.577 [DAT](INFO): DAT read: Rx Time:17:39:54.3146

2025-01-08T17:39:55.577Z,1736357995.577 [DAT](INFO): Rx dataTimestamp_ set to:1736357995.577168
2025-01-08T17:39:55.578Z,1736357995.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022409
2025-01-08T17:39:55.726Z,1736357995.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:55.736Z,1736357995.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:55.755Z,1736357995.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 123.885117 m,
      bearing: 125.833203 deg,
      approach rate: 0.406327 m/s,
      LOS rate: -0.142607 deg/s,
      cmd heading: 125.901820 deg,
      new cmd heading: 125.833203 deg.

2025-01-08T17:39:55.756Z,1736357995.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.196204 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:39:55.829Z,1736357995.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273529
2025-01-08T17:39:56.081Z,1736357996.081 [DAT](INFO): DAT read: Range 10 to 50 : 126.1 m  (Round-trip  168.2 ms) speed -0.8 m/s

2025-01-08T17:39:56.082Z,1736357996.082 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:39:56.082Z,1736357996.082 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:39:56.083Z,1736357996.083 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:39:56.083Z,1736357996.083 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:39:56.145Z,1736357996.145 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:56.186Z,1736357996.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 126.099998 m,
 deltaT: 3.779829 s,
 deltaX: -55.099998 m,
 approachRate: -14.577378 m/s,
 rangeRepo size: 2
2025-01-08T17:39:56.187Z,1736357996.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:56.194Z,1736357996.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 124.056076 m,
      bearing: 125.773336 deg,
      approach rate: 0.384384 m/s,
      LOS rate: -0.134420 deg/s,
      cmd heading: 125.833203 deg,
      new cmd heading: 125.773336 deg.

2025-01-08T17:39:56.204Z,1736357996.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.195159 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:39:56.332Z,1736357996.332 [DAT](INFO): DAT read: user:301>

2025-01-08T17:39:56.333Z,1736357996.333 [DAT](INFO): DAT read: Tx time:17:39:55.5422

2025-01-08T17:39:56.333Z,1736357996.333 [DAT](INFO): Ping request sent.
2025-01-08T17:39:56.333Z,1736357996.333 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:39:56.333Z,1736357996.333 [DAT](INFO): publishing transmit ping time
2025-01-08T17:39:56.334Z,1736357996.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-01-08T17:39:56.585Z,1736357996.585 [DAT](INFO): DAT read: TxSync time:17:39:55.5415

2025-01-08T17:39:56.586Z,1736357996.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252883
2025-01-08T17:39:56.670Z,1736357996.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:56.734Z,1736357996.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:39:56.741Z,1736357996.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:56.748Z,1736357996.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 124.269341 m,
      bearing: 125.692373 deg,
      approach rate: 0.381100 m/s,
      LOS rate: -0.144431 deg/s,
      cmd heading: 125.773330 deg,
      new cmd heading: 125.692373 deg.

2025-01-08T17:39:56.749Z,1736357996.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.193746 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:39:56.836Z,1736357996.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502930
2025-01-08T17:39:57.089Z,1736357997.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755508
2025-01-08T17:39:57.152Z,1736357997.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:57.181Z,1736357997.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:57.187Z,1736357997.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 124.460663 m,
      bearing: 125.615681 deg,
      approach rate: 0.434745 m/s,
      LOS rate: -0.174001 deg/s,
      cmd heading: 125.692379 deg,
      new cmd heading: 125.615681 deg.

2025-01-08T17:39:57.188Z,1736357997.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.192407 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:39:57.340Z,1736357997.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006929
2025-01-08T17:39:57.596Z,1736357997.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262209
2025-01-08T17:39:57.659Z,1736357997.659 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:57.673Z,1736357997.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:57.677Z,1736357997.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 124.668724 m,
      bearing: 125.535008 deg,
      approach rate: 0.423247 m/s,
      LOS rate: -0.163835 deg/s,
      cmd heading: 125.615676 deg,
      new cmd heading: 125.535008 deg.

2025-01-08T17:39:57.679Z,1736357997.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.190999 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:39:57.846Z,1736357997.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513081
2025-01-08T17:39:57.982Z,1736357997.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:57.990Z,1736357997.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:58.009Z,1736357998.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 124.791138 m,
      bearing: 125.478666 deg,
      approach rate: 0.384817 m/s,
      LOS rate: -0.176942 deg/s,
      cmd heading: 125.535011 deg,
      new cmd heading: 125.478666 deg.

2025-01-08T17:39:58.016Z,1736357998.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.190016 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:39:58.101Z,1736357998.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767214
2025-01-08T17:39:58.354Z,1736357998.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020515
2025-01-08T17:39:58.421Z,1736357998.421 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:58.431Z,1736357998.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:58.433Z,1736357998.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 124.957649 m,
      bearing: 125.402291 deg,
      approach rate: 0.378206 m/s,
      LOS rate: -0.173243 deg/s,
      cmd heading: 125.478662 deg,
      new cmd heading: 125.402291 deg.

2025-01-08T17:39:58.434Z,1736357998.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.188683 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:39:58.604Z,1736357998.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271053
2025-01-08T17:39:58.815Z,1736357998.815 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:58.842Z,1736357998.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:39:58.848Z,1736357998.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:58.856Z,1736357998.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522908
2025-01-08T17:39:58.857Z,1736357998.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 125.107513 m,
      bearing: 125.329016 deg,
      approach rate: 0.358868 m/s,
      LOS rate: -0.175256 deg/s,
      cmd heading: 125.402287 deg,
      new cmd heading: 125.329016 deg.

2025-01-08T17:39:58.858Z,1736357998.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.187404 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:39:59.109Z,1736357999.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775680
2025-01-08T17:39:59.273Z,1736357999.273 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:59.282Z,1736357999.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:59.285Z,1736357999.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 125.276611 m,
      bearing: 125.241542 deg,
      approach rate: 0.389598 m/s,
      LOS rate: -0.201265 deg/s,
      cmd heading: 125.329013 deg,
      new cmd heading: 125.241542 deg.

2025-01-08T17:39:59.286Z,1736357999.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.185877 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:39:59.361Z,1736357999.361 [DAT](INFO): DAT read: Rx Time:17:39:58.1175

2025-01-08T17:39:59.362Z,1736357999.362 [DAT](INFO): Rx dataTimestamp_ set to:1736357999.361345
2025-01-08T17:39:59.362Z,1736357999.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028822
2025-01-08T17:39:59.616Z,1736357999.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281357
2025-01-08T17:39:59.709Z,1736357999.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:39:59.718Z,1736357999.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:39:59.721Z,1736357999.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 125.436569 m,
      bearing: 125.152848 deg,
      approach rate: 0.367111 m/s,
      LOS rate: -0.203298 deg/s,
      cmd heading: 125.241545 deg,
      new cmd heading: 125.152848 deg.

2025-01-08T17:39:59.722Z,1736357999.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.184329 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:39:59.874Z,1736357999.874 [DAT](INFO): DAT read: 17:39:58.1175 LVL= 26416, 24513, 19426, 32531, AGC= 58, IDX= 452,-0.33, 1.800,-2.134,-2.365,-2.904, PHS=-1.491, 0.817, 0.536, RAW= 276.4,   1.3, CAL= 278.4,   1.1, ROT= 231.6,  -1.1

2025-01-08T17:39:59.875Z,1736357999.875 [DAT](INFO): got valid direction response:
 17:39:58.1175 LVL= 26416, 24513, 19426, 32531, AGC= 58, IDX= 452,-0.33, 1.800,-2.134,-2.365,-2.904, PHS=-1.491, 0.817, 0.536, RAW= 276.4,   1.3, CAL= 278.4,   1.1, ROT= 231.6,  -1.1

2025-01-08T17:39:59.876Z,1736357999.876 [DAT](INFO): DAT read: Bearing 231.6,  -1.1 (Local)

2025-01-08T17:39:59.877Z,1736357999.877 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.6,  -1.1 (Local)

2025-01-08T17:39:59.879Z,1736357999.879 [DAT](INFO): DAT read: Range 10 to 50 : 128.2 m  (Round-trip  171.0 ms) speed -0.6 m/s

2025-01-08T17:39:59.913Z,1736357999.913 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:39:59.914Z,1736357999.914 [DAT](INFO): direction in FSK: [-0.621033,-0.783549,0.019197]
2025-01-08T17:39:59.915Z,1736357999.915 [DAT](INFO): publishing direction and range info
2025-01-08T17:39:59.952Z,1736357999.952 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:39:59.952Z,1736357999.952 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:39:59.952Z,1736357999.952 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:40:00.116Z,1736358000.116 [DAT](INFO): DAT read: user:302>

2025-01-08T17:40:00.117Z,1736358000.117 [DAT](INFO): DAT read: Tx time:17:39:59.3923

2025-01-08T17:40:00.117Z,1736358000.117 [DAT](INFO): Ping request sent.
2025-01-08T17:40:00.117Z,1736358000.117 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:40:00.118Z,1736358000.118 [DAT](INFO): publishing transmit ping time
2025-01-08T17:40:00.118Z,1736358000.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725
2025-01-08T17:40:00.202Z,1736358000.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:00.230Z,1736358000.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 128.199997 m,
 deltaT: 7.566225 s,
 deltaX: -53.000000 m,
 approachRate: -7.004814 m/s,
 rangeRepo size: 2
2025-01-08T17:40:00.235Z,1736358000.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:40:00.238Z,1736358000.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 125.610825 m,
      bearing: 125.050354 deg,
      approach rate: 0.340531 m/s,
      LOS rate: -0.200017 deg/s,
      cmd heading: 125.152848 deg,
      new cmd heading: 125.050354 deg.

2025-01-08T17:40:00.239Z,1736358000.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.182540 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:40:00.368Z,1736358000.368 [DAT](INFO): DAT read: TxSync time:17:39:59.3916

2025-01-08T17:40:00.369Z,1736358000.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251743
2025-01-08T17:40:00.628Z,1736358000.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.508976
2025-01-08T17:40:00.713Z,1736358000.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:00.744Z,1736358000.744 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:40:00.749Z,1736358000.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:40:00.756Z,1736358000.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 125.793938 m,
      bearing: 124.944016 deg,
      approach rate: 0.352873 m/s,
      LOS rate: -0.204621 deg/s,
      cmd heading: 125.050354 deg,
      new cmd heading: 124.944016 deg.

2025-01-08T17:40:00.757Z,1736358000.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.180685 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:40:00.877Z,1736358000.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759859
2025-01-08T17:40:01.085Z,1736358001.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:01.108Z,1736358001.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:01.111Z,1736358001.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:40:01.124Z,1736358001.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 125.922165 m,
      bearing: 124.865061 deg,
      approach rate: 0.354710 m/s,
      LOS rate: -0.218189 deg/s,
      cmd heading: 124.944022 deg,
      new cmd heading: 124.865061 deg.

2025-01-08T17:40:01.125Z,1736358001.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.179307 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:40:01.128Z,1736358001.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010873
2025-01-08T17:40:01.381Z,1736358001.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263191
2025-01-08T17:40:01.473Z,1736358001.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:01.483Z,1736358001.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:40:01.485Z,1736358001.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 126.050423 m,
      bearing: 124.780981 deg,
      approach rate: 0.344433 m/s,
      LOS rate: -0.225565 deg/s,
      cmd heading: 124.865065 deg,
      new cmd heading: 124.780981 deg.

2025-01-08T17:40:01.486Z,1736358001.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.177839 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:40:01.636Z,1736358001.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517589
2025-01-08T17:40:01.748Z,1736358001.748 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:40:01.884Z,1736358001.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766833
2025-01-08T17:40:01.929Z,1736358001.929 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:01.937Z,1736358001.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:40:01.940Z,1736358001.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 126.188828 m,
      bearing: 124.682028 deg,
      approach rate: 0.304285 m/s,
      LOS rate: -0.217312 deg/s,
      cmd heading: 124.780985 deg,
      new cmd heading: 124.682028 deg.

2025-01-08T17:40:01.941Z,1736358001.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.176112 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:40:02.136Z,1736358002.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018711
2025-01-08T17:40:02.277Z,1736358002.277 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:02.285Z,1736358002.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:40:02.288Z,1736358002.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 126.289200 m,
      bearing: 124.605215 deg,
      approach rate: 0.288591 m/s,
      LOS rate: -0.220678 deg/s,
      cmd heading: 124.682030 deg,
      new cmd heading: 124.605215 deg.

2025-01-08T17:40:02.289Z,1736358002.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.174771 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:40:02.389Z,1736358002.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271733
2025-01-08T17:40:02.644Z,1736358002.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525645
2025-01-08T17:40:02.729Z,1736358002.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:02.738Z,1736358002.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:40:02.741Z,1736358002.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 126.415535 m,
      bearing: 124.505291 deg,
      approach rate: 0.279242 m/s,
      LOS rate: -0.220644 deg/s,
      cmd heading: 124.605217 deg,
      new cmd heading: 124.505291 deg.

2025-01-08T17:40:02.741Z,1736358002.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.173027 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:40:02.892Z,1736358002.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774986
2025-01-08T17:40:03.124Z,1736358003.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:03.140Z,1736358003.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:03.142Z,1736358003.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:40:03.144Z,1736358003.144 [DAT](INFO): DAT read: Rx Time:17:40:01.9694

2025-01-08T17:40:03.145Z,1736358003.145 [DAT](INFO): Rx dataTimestamp_ set to:1736358003.144588
2025-01-08T17:40:03.146Z,1736358003.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028811
2025-01-08T17:40:03.156Z,1736358003.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 126.507629 m,
      bearing: 124.413817 deg,
      approach rate: 0.227942 m/s,
      LOS rate: -0.226241 deg/s,
      cmd heading: 124.505292 deg,
      new cmd heading: 124.413817 deg.

2025-01-08T17:40:03.157Z,1736358003.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.171431 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:40:03.397Z,1736358003.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279180
2025-01-08T17:40:03.503Z,1736358003.503 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:03.513Z,1736358003.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.70 m.
2025-01-08T17:40:03.516Z,1736358003.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 179.699997 m,
      nav range: 126.596115 m,
      bearing: 124.326346 deg,
      approach rate: 0.237990 m/s,
      LOS rate: -0.235095 deg/s,
      cmd heading: 124.413822 deg,
      new cmd heading: 124.326346 deg.

2025-01-08T17:40:03.517Z,1736358003.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.169904 target range: 179.699997 and range: 181.20 m.
2025-01-08T17:40:03.653Z,1736358003.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534437
2025-01-08T17:40:03.906Z,1736358003.906 [DAT](INFO): DAT read: 17:40:01.9694 LVL= 21616, 20913, 17970, 24899, AGC= 61, IDX= 439,-0.09, 0.369, 1.963, 3.024, 1.825, PHS=-1.367, 0.185, 1.197, RAW= 246.9,  -0.1, CAL= 249.8,   0.6, ROT= 260.2,  -0.6

2025-01-08T17:40:03.907Z,1736358003.907 [DAT](INFO): got valid direction response:
 17:40:01.9694 LVL= 21616, 20913, 17970, 24899, AGC= 61, IDX= 439,-0.09, 0.369, 1.963, 3.024, 1.825, PHS=-1.367, 0.185, 1.197, RAW= 246.9,  -0.1, CAL= 249.8,   0.6, ROT= 260.2,  -0.6

2025-01-08T17:40:03.918Z,1736358003.918 [DAT](INFO): DAT read: Bearing 260.2,  -0.6 (Local)

2025-01-08T17:40:03.918Z,1736358003.918 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.2,  -0.6 (Local)

2025-01-08T17:40:03.924Z,1736358003.924 [DAT](INFO): DAT read: Range 10 to 50 : 129.6 m  (Round-trip  172.9 ms) speed -0.2 m/s

2025-01-08T17:40:03.924Z,1736358003.924 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:40:03.925Z,1736358003.925 [DAT](INFO): direction in FSK: [-0.170200,-0.985354,0.010472]
2025-01-08T17:40:03.926Z,1736358003.926 [DAT](INFO): publishing direction and range info
2025-01-08T17:40:03.947Z,1736358003.947 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:03.947Z,1736358003.947 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:03.947Z,1736358003.947 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:40:03.990Z,1736358003.990 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:04.050Z,1736358004.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 129.600006 m,
      deltaT: 11.599888 s,
      deltaX: -51.599991 m,
      approachRate: -4.448318 m/s,
      rangeRepo size: 3

2025-01-08T17:40:04.065Z,1736358004.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 129.600006 m,
      bearing: 125.825962 deg,
      lat: 36.904123 deg,
      lon: -122.119114 deg,
      deltaT: 15.643189 s,
      deltaX: -50.099991 m,
      approachRate: -3.202671 m/s,
      posRepo size: 2

2025-01-08T17:40:04.066Z,1736358004.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m.
2025-01-08T17:40:04.077Z,1736358004.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.600006 m,
      nav range: 127.508209 m,
      bearing: 124.501952 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.235095 deg/s,
      cmd heading: 124.326341 deg,
      new cmd heading: 123.953676 deg.

2025-01-08T17:40:04.078Z,1736358004.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.163400 target range: 129.600006 and range: 129.60 m.
2025-01-08T17:40:04.153Z,1736358004.153 [DAT](INFO): DAT read: user:303>

2025-01-08T17:40:04.154Z,1736358004.154 [DAT](INFO): DAT read: Tx time:17:40:03.3923

2025-01-08T17:40:04.155Z,1736358004.155 [DAT](INFO): Ping request sent.
2025-01-08T17:40:04.155Z,1736358004.155 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:40:04.155Z,1736358004.155 [DAT](INFO): publishing transmit ping time
2025-01-08T17:40:04.156Z,1736358004.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001345
2025-01-08T17:40:04.400Z,1736358004.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:04.404Z,1736358004.404 [DAT](INFO): DAT read: TxSync time:17:40:03.3916

2025-01-08T17:40:04.405Z,1736358004.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250567
2025-01-08T17:40:04.414Z,1736358004.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m.
2025-01-08T17:40:04.421Z,1736358004.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.600006 m,
      nav range: 127.572952 m,
      bearing: 124.411476 deg,
      approach rate: 0.173749 m/s,
      LOS rate: -0.242687 deg/s,
      cmd heading: 123.953672 deg,
      new cmd heading: 123.682382 deg.

2025-01-08T17:40:04.422Z,1736358004.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.158665 target range: 129.600006 and range: 129.60 m.
2025-01-08T17:40:04.660Z,1736358004.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504301
2025-01-08T17:40:04.803Z,1736358004.803 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:04.813Z,1736358004.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m.
2025-01-08T17:40:04.816Z,1736358004.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.600006 m,
      nav range: 127.627487 m,
      bearing: 124.327229 deg,
      approach rate: 0.136955 m/s,
      LOS rate: -0.211482 deg/s,
      cmd heading: 123.682377 deg,
      new cmd heading: 123.429745 deg.

2025-01-08T17:40:04.817Z,1736358004.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.154255 target range: 129.600006 and range: 129.60 m.
2025-01-08T17:40:04.908Z,1736358004.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753750
2025-01-08T17:40:05.162Z,1736358005.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007194
2025-01-08T17:40:05.198Z,1736358005.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:05.208Z,1736358005.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:05.211Z,1736358005.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m.
2025-01-08T17:40:05.214Z,1736358005.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.600006 m,
      nav range: 127.669479 m,
      bearing: 124.243398 deg,
      approach rate: 0.105593 m/s,
      LOS rate: -0.210729 deg/s,
      cmd heading: 123.429742 deg,
      new cmd heading: 123.178336 deg.

2025-01-08T17:40:05.216Z,1736358005.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.149868 target range: 129.600006 and range: 129.60 m.
2025-01-08T17:40:05.412Z,1736358005.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257625
2025-01-08T17:40:05.584Z,1736358005.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:05.593Z,1736358005.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m.
2025-01-08T17:40:05.596Z,1736358005.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.600006 m,
      nav range: 127.704796 m,
      bearing: 124.161129 deg,
      approach rate: 0.092401 m/s,
      LOS rate: -0.215189 deg/s,
      cmd heading: 123.178336 deg,
      new cmd heading: 122.931597 deg.

2025-01-08T17:40:05.597Z,1736358005.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.145561 target range: 129.600006 and range: 129.60 m.
2025-01-08T17:40:05.667Z,1736358005.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512049
2025-01-08T17:40:05.916Z,1736358005.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761574
2025-01-08T17:40:05.998Z,1736358005.998 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:06.022Z,1736358006.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m.
2025-01-08T17:40:06.030Z,1736358006.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.600006 m,
      nav range: 127.722458 m,
      bearing: 124.075913 deg,
      approach rate: 0.041099 m/s,
      LOS rate: -0.198267 deg/s,
      cmd heading: 122.931602 deg,
      new cmd heading: 122.675993 deg.

2025-01-08T17:40:06.036Z,1736358006.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.141100 target range: 129.600006 and range: 129.60 m.
2025-01-08T17:40:06.169Z,1736358006.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014039
2025-01-08T17:40:06.382Z,1736358006.382 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:06.391Z,1736358006.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m.
2025-01-08T17:40:06.395Z,1736358006.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.600006 m,
      nav range: 127.733681 m,
      bearing: 123.996452 deg,
      approach rate: 0.030434 m/s,
      LOS rate: -0.215466 deg/s,
      cmd heading: 122.675989 deg,
      new cmd heading: 122.437627 deg.

2025-01-08T17:40:06.396Z,1736358006.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.136940 target range: 129.600006 and range: 129.60 m.
2025-01-08T17:40:06.420Z,1736358006.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265514
2025-01-08T17:40:06.677Z,1736358006.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521392
2025-01-08T17:40:06.804Z,1736358006.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:06.829Z,1736358006.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m.
2025-01-08T17:40:06.835Z,1736358006.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.600006 m,
      nav range: 127.728416 m,
      bearing: 123.912396 deg,
      approach rate: -0.012012 m/s,
      LOS rate: -0.191805 deg/s,
      cmd heading: 122.437630 deg,
      new cmd heading: 122.185454 deg.

2025-01-08T17:40:06.844Z,1736358006.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.132539 target range: 129.600006 and range: 129.60 m.
2025-01-08T17:40:06.925Z,1736358006.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770501
2025-01-08T17:40:07.176Z,1736358007.176 [DAT](INFO): DAT read: Rx Time:17:40:05.9699

2025-01-08T17:40:07.177Z,1736358007.177 [DAT](INFO): Rx dataTimestamp_ set to:1736358007.176566
2025-01-08T17:40:07.179Z,1736358007.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023795
2025-01-08T17:40:07.198Z,1736358007.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:07.207Z,1736358007.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m.
2025-01-08T17:40:07.234Z,1736358007.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.600006 m,
      nav range: 127.718422 m,
      bearing: 123.833938 deg,
      approach rate: -0.026489 m/s,
      LOS rate: -0.207956 deg/s,
      cmd heading: 122.185459 deg,
      new cmd heading: 121.950067 deg.

2025-01-08T17:40:07.235Z,1736358007.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.128430 target range: 129.600006 and range: 129.60 m.
2025-01-08T17:40:07.432Z,1736358007.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277307
2025-01-08T17:40:07.605Z,1736358007.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:07.614Z,1736358007.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:07.616Z,1736358007.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m.
2025-01-08T17:40:07.619Z,1736358007.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.600006 m,
      nav range: 127.703102 m,
      bearing: 123.752961 deg,
      approach rate: -0.037405 m/s,
      LOS rate: -0.197737 deg/s,
      cmd heading: 121.950063 deg,
      new cmd heading: 121.707106 deg.

2025-01-08T17:40:07.621Z,1736358007.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.124190 target range: 129.600006 and range: 129.60 m.
2025-01-08T17:40:07.686Z,1736358007.686 [DAT](INFO): DAT read: Range 10 to 50 : 130.0 m  (Round-trip  173.4 ms) speed  0.0 m/s

2025-01-08T17:40:07.692Z,1736358007.692 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:40:07.713Z,1736358007.713 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:07.713Z,1736358007.713 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:07.714Z,1736358007.714 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:40:07.932Z,1736358007.932 [DAT](INFO): DAT read: user:304>

2025-01-08T17:40:07.933Z,1736358007.933 [DAT](INFO): DAT read: Tx time:17:40:07.1423

2025-01-08T17:40:07.933Z,1736358007.933 [DAT](INFO): Ping request sent.
2025-01-08T17:40:07.933Z,1736358007.933 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:40:07.933Z,1736358007.933 [DAT](INFO): publishing transmit ping time
2025-01-08T17:40:07.934Z,1736358007.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-01-08T17:40:08.054Z,1736358008.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:08.065Z,1736358008.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 130.000000 m,
      deltaT: 3.780750 s,
      deltaX: 0.399994 m,
      approachRate: 0.105797 m/s,
      rangeRepo size: 4

2025-01-08T17:40:08.065Z,1736358008.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m.
2025-01-08T17:40:08.068Z,1736358008.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.600006 m,
      nav range: 127.671738 m,
      bearing: 123.664909 deg,
      approach rate: -0.070025 m/s,
      LOS rate: -0.196637 deg/s,
      cmd heading: 121.707100 deg,
      new cmd heading: 121.442879 deg.

2025-01-08T17:40:08.069Z,1736358008.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.119578 target range: 129.600006 and range: 130.00 m.
2025-01-08T17:40:08.187Z,1736358008.187 [DAT](INFO): DAT read: TxSync time:17:40:07.1416

2025-01-08T17:40:08.189Z,1736358008.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255018
2025-01-08T17:40:08.400Z,1736358008.400 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:08.408Z,1736358008.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m.
2025-01-08T17:40:08.428Z,1736358008.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.600006 m,
      nav range: 127.643448 m,
      bearing: 123.597546 deg,
      approach rate: -0.082225 m/s,
      LOS rate: -0.195834 deg/s,
      cmd heading: 121.442881 deg,
      new cmd heading: 121.240749 deg.

2025-01-08T17:40:08.429Z,1736358008.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.116050 target range: 129.600006 and range: 130.00 m.
2025-01-08T17:40:08.436Z,1736358008.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503122
2025-01-08T17:40:08.692Z,1736358008.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758254
2025-01-08T17:40:08.832Z,1736358008.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:08.841Z,1736358008.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m.
2025-01-08T17:40:08.844Z,1736358008.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.600006 m,
      nav range: 127.594307 m,
      bearing: 123.511336 deg,
      approach rate: -0.113580 m/s,
      LOS rate: -0.199335 deg/s,
      cmd heading: 121.240748 deg,
      new cmd heading: 120.982020 deg.

2025-01-08T17:40:08.845Z,1736358008.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.111535 target range: 129.600006 and range: 130.00 m.
2025-01-08T17:40:08.941Z,1736358008.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007514
2025-01-08T17:40:09.192Z,1736358009.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259120
2025-01-08T17:40:09.230Z,1736358009.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:09.262Z,1736358009.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m.
2025-01-08T17:40:09.269Z,1736358009.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.600006 m,
      nav range: 127.544540 m,
      bearing: 123.432395 deg,
      approach rate: -0.118173 m/s,
      LOS rate: -0.187522 deg/s,
      cmd heading: 120.982021 deg,
      new cmd heading: 120.745107 deg.

2025-01-08T17:40:09.280Z,1736358009.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.107400 target range: 129.600006 and range: 130.00 m.
2025-01-08T17:40:09.445Z,1736358009.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511353
2025-01-08T17:40:09.616Z,1736358009.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:09.624Z,1736358009.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:09.626Z,1736358009.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m.
2025-01-08T17:40:09.630Z,1736358009.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.600006 m,
      nav range: 127.491837 m,
      bearing: 123.356421 deg,
      approach rate: -0.144791 m/s,
      LOS rate: -0.208808 deg/s,
      cmd heading: 120.745109 deg,
      new cmd heading: 120.517092 deg.

2025-01-08T17:40:09.631Z,1736358009.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.103420 target range: 129.600006 and range: 130.00 m.
2025-01-08T17:40:09.699Z,1736358009.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766077
2025-01-08T17:40:09.948Z,1736358009.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014982
2025-01-08T17:40:10.040Z,1736358010.040 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:10.066Z,1736358010.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m.
2025-01-08T17:40:10.069Z,1736358010.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.600006 m,
      nav range: 127.429070 m,
      bearing: 123.271378 deg,
      approach rate: -0.142787 m/s,
      LOS rate: -0.193555 deg/s,
      cmd heading: 120.517090 deg,
      new cmd heading: 120.261840 deg.

2025-01-08T17:40:10.070Z,1736358010.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098965 target range: 129.600006 and range: 130.00 m.
2025-01-08T17:40:10.200Z,1736358010.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267007
2025-01-08T17:40:10.437Z,1736358010.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:10.446Z,1736358010.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m.
2025-01-08T17:40:10.449Z,1736358010.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.600006 m,
      nav range: 127.370529 m,
      bearing: 123.191653 deg,
      approach rate: -0.153878 m/s,
      LOS rate: -0.209661 deg/s,
      cmd heading: 120.261845 deg,
      new cmd heading: 120.022561 deg.

2025-01-08T17:40:10.450Z,1736358010.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094789 target range: 129.600006 and range: 130.00 m.
2025-01-08T17:40:10.452Z,1736358010.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519078
2025-01-08T17:40:10.705Z,1736358010.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771233
2025-01-08T17:40:10.877Z,1736358010.877 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:10.886Z,1736358010.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m.
2025-01-08T17:40:10.889Z,1736358010.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.600006 m,
      nav range: 127.301765 m,
      bearing: 123.102244 deg,
      approach rate: -0.156323 m/s,
      LOS rate: -0.203367 deg/s,
      cmd heading: 120.022557 deg,
      new cmd heading: 119.754187 deg.

2025-01-08T17:40:10.890Z,1736358010.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.090105 target range: 129.600006 and range: 130.00 m.
2025-01-08T17:40:10.957Z,1736358010.957 [DAT](INFO): DAT read: Rx Time:17:40:09.7199

2025-01-08T17:40:10.957Z,1736358010.957 [DAT](INFO): Rx dataTimestamp_ set to:1736358010.957064
2025-01-08T17:40:10.958Z,1736358010.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024602
2025-01-08T17:40:11.208Z,1736358011.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275021
2025-01-08T17:40:11.230Z,1736358011.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:11.262Z,1736358011.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.60 m.
2025-01-08T17:40:11.273Z,1736358011.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.600006 m,
      nav range: 127.241875 m,
      bearing: 123.031103 deg,
      approach rate: -0.160333 m/s,
      LOS rate: -0.190541 deg/s,
      cmd heading: 119.754185 deg,
      new cmd heading: 119.540662 deg.

2025-01-08T17:40:11.274Z,1736358011.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.086378 target range: 129.600006 and range: 130.00 m.
2025-01-08T17:40:11.467Z,1736358011.467 [DAT](INFO): DAT read: 17:40:09.7199 LVL= 17552, 20881,  9714, 23651, AGC= 58, IDX= 444,-0.26,-0.242, 0.592, 2.318, 0.883, PHS=-1.037,-0.245, 1.432, RAW= 228.3,  -1.4, CAL= 228.0,  -5.9, ROT= 282.0,   5.9

2025-01-08T17:40:11.468Z,1736358011.468 [DAT](INFO): got valid direction response:
 17:40:09.7199 LVL= 17552, 20881,  9714, 23651, AGC= 58, IDX= 444,-0.26,-0.242, 0.592, 2.318, 0.883, PHS=-1.037,-0.245, 1.432, RAW= 228.3,  -1.4, CAL= 228.0,  -5.9, ROT= 282.0,   5.9

2025-01-08T17:40:11.469Z,1736358011.469 [DAT](INFO): DAT read: Bearing 282.0,   5.9 (Local)

2025-01-08T17:40:11.469Z,1736358011.469 [DAT](INFO): Local bearing/azimuth received:
 Bearing 282.0,   5.9 (Local)

2025-01-08T17:40:11.471Z,1736358011.471 [DAT](INFO): DAT read: Range 10 to 50 : 130.0 m  (Round-trip  173.4 ms) speed  0.0 m/s

2025-01-08T17:40:11.472Z,1736358011.472 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:40:11.472Z,1736358011.472 [DAT](INFO): direction in FSK: [0.206810,-0.972966,-0.102793]
2025-01-08T17:40:11.473Z,1736358011.473 [DAT](INFO): publishing direction and range info
2025-01-08T17:40:11.478Z,1736358011.478 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:11.478Z,1736358011.478 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:11.478Z,1736358011.478 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:40:11.654Z,1736358011.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:11.674Z,1736358011.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 130.000000 m,
      deltaT: 3.779197 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:40:11.678Z,1736358011.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 130.000000 m,
      bearing: 117.308970 deg,
      lat: 36.904211 deg,
      lon: -122.119022 deg,
      deltaT: 7.559947 s,
      deltaX: 0.399994 m,
      approachRate: 0.052910 m/s,
      posRepo size: 3

2025-01-08T17:40:11.679Z,1736358011.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.00 m.
2025-01-08T17:40:11.687Z,1736358011.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.000000 m,
      nav range: 129.296036 m,
      bearing: 117.308500 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.190541 deg/s,
      cmd heading: 119.540659 deg,
      new cmd heading: 119.304556 deg.

2025-01-08T17:40:11.712Z,1736358011.712 [DAT](INFO): DAT read: user:305>

2025-01-08T17:40:11.713Z,1736358011.713 [DAT](INFO): DAT read: Tx time:17:40:10.9423

2025-01-08T17:40:11.713Z,1736358011.713 [DAT](INFO): Ping request sent.
2025-01-08T17:40:11.713Z,1736358011.713 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:40:11.713Z,1736358011.713 [DAT](INFO): publishing transmit ping time
2025-01-08T17:40:11.714Z,1736358011.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-01-08T17:40:11.740Z,1736358011.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.082257 target range: 130.000000 and range: 130.00 m.
2025-01-08T17:40:11.965Z,1736358011.965 [DAT](INFO): DAT read: TxSync time:17:40:10.9416

2025-01-08T17:40:11.965Z,1736358011.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252183
2025-01-08T17:40:12.135Z,1736358012.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:12.142Z,1736358012.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:12.145Z,1736358012.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.00 m.
2025-01-08T17:40:12.148Z,1736358012.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.000000 m,
      nav range: 129.245514 m,
      bearing: 117.206052 deg,
      approach rate: -0.106980 m/s,
      LOS rate: -0.217019 deg/s,
      cmd heading: 119.304553 deg,
      new cmd heading: 118.997092 deg.

2025-01-08T17:40:12.149Z,1736358012.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.076891 target range: 130.000000 and range: 130.00 m.
2025-01-08T17:40:12.216Z,1736358012.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503202
2025-01-08T17:40:12.468Z,1736358012.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754962
2025-01-08T17:40:12.572Z,1736358012.572 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:12.581Z,1736358012.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.00 m.
2025-01-08T17:40:12.584Z,1736358012.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.000000 m,
      nav range: 129.180267 m,
      bearing: 117.115355 deg,
      approach rate: -0.149581 m/s,
      LOS rate: -0.208033 deg/s,
      cmd heading: 118.997086 deg,
      new cmd heading: 118.724859 deg.

2025-01-08T17:40:12.585Z,1736358012.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.072140 target range: 130.000000 and range: 130.00 m.
2025-01-08T17:40:12.721Z,1736358012.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007315
2025-01-08T17:40:12.972Z,1736358012.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259161
2025-01-08T17:40:13.015Z,1736358013.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:13.024Z,1736358013.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.00 m.
2025-01-08T17:40:13.028Z,1736358013.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.000000 m,
      nav range: 129.113220 m,
      bearing: 117.023362 deg,
      approach rate: -0.151317 m/s,
      LOS rate: -0.207723 deg/s,
      cmd heading: 118.724862 deg,
      new cmd heading: 118.448743 deg.

2025-01-08T17:40:13.029Z,1736358013.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.067321 target range: 130.000000 and range: 130.00 m.
2025-01-08T17:40:13.224Z,1736358013.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511015
2025-01-08T17:40:13.414Z,1736358013.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:13.422Z,1736358013.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.00 m.
2025-01-08T17:40:13.441Z,1736358013.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.000000 m,
      nav range: 129.047012 m,
      bearing: 116.941549 deg,
      approach rate: -0.166257 m/s,
      LOS rate: -0.205551 deg/s,
      cmd heading: 118.448744 deg,
      new cmd heading: 118.203179 deg.

2025-01-08T17:40:13.442Z,1736358013.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.063035 target range: 130.000000 and range: 130.00 m.
2025-01-08T17:40:13.477Z,1736358013.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763745
2025-01-08T17:40:13.729Z,1736358013.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015322
2025-01-08T17:40:13.883Z,1736358013.883 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:13.892Z,1736358013.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.00 m.
2025-01-08T17:40:13.895Z,1736358013.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.000000 m,
      nav range: 128.972046 m,
      bearing: 116.847003 deg,
      approach rate: -0.159762 m/s,
      LOS rate: -0.201605 deg/s,
      cmd heading: 118.203172 deg,
      new cmd heading: 117.919372 deg.

2025-01-08T17:40:13.896Z,1736358013.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.058081 target range: 130.000000 and range: 130.00 m.
2025-01-08T17:40:13.983Z,1736358013.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269644
2025-01-08T17:40:14.230Z,1736358014.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:14.237Z,1736358014.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523377
2025-01-08T17:40:14.239Z,1736358014.239 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:14.241Z,1736358014.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.00 m.
2025-01-08T17:40:14.244Z,1736358014.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.000000 m,
      nav range: 128.911652 m,
      bearing: 116.777692 deg,
      approach rate: -0.172578 m/s,
      LOS rate: -0.198149 deg/s,
      cmd heading: 117.919377 deg,
      new cmd heading: 117.711350 deg.

2025-01-08T17:40:14.245Z,1736358014.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054451 target range: 130.000000 and range: 130.00 m.
2025-01-08T17:40:14.488Z,1736358014.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775101
2025-01-08T17:40:14.637Z,1736358014.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:14.647Z,1736358014.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.00 m.
2025-01-08T17:40:14.654Z,1736358014.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.000000 m,
      nav range: 128.835526 m,
      bearing: 116.697540 deg,
      approach rate: -0.187715 m/s,
      LOS rate: -0.197758 deg/s,
      cmd heading: 117.711344 deg,
      new cmd heading: 117.470748 deg.

2025-01-08T17:40:14.655Z,1736358014.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050251 target range: 130.000000 and range: 130.00 m.
2025-01-08T17:40:14.742Z,1736358014.742 [DAT](INFO): DAT read: Rx Time:17:40:13.5196

2025-01-08T17:40:14.742Z,1736358014.742 [DAT](INFO): Rx dataTimestamp_ set to:1736358014.741871
2025-01-08T17:40:14.744Z,1736358014.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030657
2025-01-08T17:40:14.992Z,1736358014.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279008
2025-01-08T17:40:15.051Z,1736358015.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:15.061Z,1736358015.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.00 m.
2025-01-08T17:40:15.080Z,1736358015.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.000000 m,
      nav range: 128.755005 m,
      bearing: 116.618478 deg,
      approach rate: -0.195206 m/s,
      LOS rate: -0.191790 deg/s,
      cmd heading: 117.470743 deg,
      new cmd heading: 117.233410 deg.

2025-01-08T17:40:15.081Z,1736358015.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.046109 target range: 130.000000 and range: 130.00 m.
2025-01-08T17:40:15.250Z,1736358015.250 [DAT](INFO): DAT read: 17:40:13.5196 LVL= 26448, 28641, 16690, 31379, AGC= 61, IDX= 440,-0.18, 2.369, 2.412,-1.970, 3.058, PHS=-0.601,-0.600, 1.252, RAW= 210.0,  -0.6, CAL= 209.4,  -7.3, ROT= 300.6,   7.3

2025-01-08T17:40:15.251Z,1736358015.251 [DAT](INFO): got valid direction response:
 17:40:13.5196 LVL= 26448, 28641, 16690, 31379, AGC= 61, IDX= 440,-0.18, 2.369, 2.412,-1.970, 3.058, PHS=-0.601,-0.600, 1.252, RAW= 210.0,  -0.6, CAL= 209.4,  -7.3, ROT= 300.6,   7.3

2025-01-08T17:40:15.252Z,1736358015.252 [DAT](INFO): DAT read: Bearing 300.6,   7.3 (Local)

2025-01-08T17:40:15.252Z,1736358015.252 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.6,   7.3 (Local)

2025-01-08T17:40:15.253Z,1736358015.253 [DAT](INFO): DAT read: Range 10 to 50 : 129.7 m  (Round-trip  173.0 ms) speed  0.2 m/s

2025-01-08T17:40:15.254Z,1736358015.254 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:40:15.255Z,1736358015.255 [DAT](INFO): direction in FSK: [0.504916,-0.853765,-0.127065]
2025-01-08T17:40:15.255Z,1736358015.255 [DAT](INFO): publishing direction and range info
2025-01-08T17:40:15.258Z,1736358015.258 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:15.258Z,1736358015.258 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:15.259Z,1736358015.259 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:40:15.452Z,1736358015.452 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:15.470Z,1736358015.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 129.699997 m,
      deltaT: 3.783998 s,
      deltaX: -0.300003 m,
      approachRate: -0.079282 m/s,
      rangeRepo size: 4

2025-01-08T17:40:15.478Z,1736358015.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 129.699997 m,
      bearing: 115.853425 deg,
      lat: 36.904222 deg,
      lon: -122.119009 deg,
      deltaT: 3.783998 s,
      deltaX: -0.300003 m,
      approachRate: -0.079282 m/s,
      posRepo size: 4

2025-01-08T17:40:15.479Z,1736358015.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-01-08T17:40:15.485Z,1736358015.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.699997 m,
      nav range: 129.148560 m,
      bearing: 115.852958 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.191790 deg/s,
      cmd heading: 117.233408 deg,
      new cmd heading: 116.997250 deg.

2025-01-08T17:40:15.486Z,1736358015.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.041987 target range: 129.699997 and range: 129.70 m.
2025-01-08T17:40:15.496Z,1736358015.496 [DAT](INFO): DAT read: user:306>

2025-01-08T17:40:15.497Z,1736358015.497 [DAT](INFO): DAT read: Tx time:17:40:14.6924

2025-01-08T17:40:15.497Z,1736358015.497 [DAT](INFO): Ping request sent.
2025-01-08T17:40:15.497Z,1736358015.497 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:40:15.498Z,1736358015.498 [DAT](INFO): publishing transmit ping time
2025-01-08T17:40:15.498Z,1736358015.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000719
2025-01-08T17:40:15.748Z,1736358015.748 [DAT](INFO): DAT read: TxSync time:17:40:14.6916

2025-01-08T17:40:15.749Z,1736358015.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251784
2025-01-08T17:40:15.912Z,1736358015.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:15.921Z,1736358015.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-01-08T17:40:15.924Z,1736358015.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.699997 m,
      nav range: 129.049210 m,
      bearing: 115.771583 deg,
      approach rate: -0.220407 m/s,
      LOS rate: -0.180669 deg/s,
      cmd heading: 116.997247 deg,
      new cmd heading: 116.752936 deg.

2025-01-08T17:40:15.925Z,1736358015.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.037723 target range: 129.699997 and range: 129.70 m.
2025-01-08T17:40:16.000Z,1736358016.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503012
2025-01-08T17:40:16.245Z,1736358016.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:16.252Z,1736358016.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754918
2025-01-08T17:40:16.255Z,1736358016.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:16.257Z,1736358016.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-01-08T17:40:16.260Z,1736358016.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.699997 m,
      nav range: 128.973785 m,
      bearing: 115.713640 deg,
      approach rate: -0.224040 m/s,
      LOS rate: -0.172214 deg/s,
      cmd heading: 116.752931 deg,
      new cmd heading: 116.579002 deg.

2025-01-08T17:40:16.261Z,1736358016.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.034688 target range: 129.699997 and range: 129.70 m.
2025-01-08T17:40:16.509Z,1736358016.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010481
2025-01-08T17:40:16.646Z,1736358016.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:16.686Z,1736358016.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-01-08T17:40:16.725Z,1736358016.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.699997 m,
      nav range: 128.878052 m,
      bearing: 115.644960 deg,
      approach rate: -0.223235 m/s,
      LOS rate: -0.160270 deg/s,
      cmd heading: 116.579007 deg,
      new cmd heading: 116.372814 deg.

2025-01-08T17:40:16.726Z,1736358016.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.031089 target range: 129.699997 and range: 129.70 m.
2025-01-08T17:40:16.757Z,1736358016.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259134
2025-01-08T17:40:17.008Z,1736358017.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510754
2025-01-08T17:40:17.074Z,1736358017.074 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:17.084Z,1736358017.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-01-08T17:40:17.086Z,1736358017.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.699997 m,
      nav range: 128.761703 m,
      bearing: 115.576825 deg,
      approach rate: -0.292992 m/s,
      LOS rate: -0.171735 deg/s,
      cmd heading: 116.372818 deg,
      new cmd heading: 116.168229 deg.

2025-01-08T17:40:17.088Z,1736358017.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.027518 target range: 129.699997 and range: 129.70 m.
2025-01-08T17:40:17.261Z,1736358017.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763969
2025-01-08T17:40:17.461Z,1736358017.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:17.469Z,1736358017.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-01-08T17:40:17.472Z,1736358017.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.699997 m,
      nav range: 128.652222 m,
      bearing: 115.516692 deg,
      approach rate: -0.283800 m/s,
      LOS rate: -0.156009 deg/s,
      cmd heading: 116.168226 deg,
      new cmd heading: 115.987676 deg.

2025-01-08T17:40:17.473Z,1736358017.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.024367 target range: 129.699997 and range: 129.70 m.
2025-01-08T17:40:17.513Z,1736358017.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015764
2025-01-08T17:40:17.764Z,1736358017.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266771
2025-01-08T17:40:17.941Z,1736358017.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:17.952Z,1736358017.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-01-08T17:40:17.954Z,1736358017.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.699997 m,
      nav range: 128.493423 m,
      bearing: 115.450795 deg,
      approach rate: -0.328891 m/s,
      LOS rate: -0.136651 deg/s,
      cmd heading: 115.987677 deg,
      new cmd heading: 115.789740 deg.

2025-01-08T17:40:17.956Z,1736358017.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.020912 target range: 129.699997 and range: 129.70 m.
2025-01-08T17:40:18.016Z,1736358018.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519029
2025-01-08T17:40:18.261Z,1736358018.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:18.268Z,1736358018.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771010
2025-01-08T17:40:18.269Z,1736358018.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:18.272Z,1736358018.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-01-08T17:40:18.274Z,1736358018.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.699997 m,
      nav range: 128.385040 m,
      bearing: 115.408292 deg,
      approach rate: -0.339009 m/s,
      LOS rate: -0.133053 deg/s,
      cmd heading: 115.789738 deg,
      new cmd heading: 115.662124 deg.

2025-01-08T17:40:18.276Z,1736358018.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.018685 target range: 129.699997 and range: 129.70 m.
2025-01-08T17:40:18.520Z,1736358018.520 [DAT](INFO): DAT read: Rx Time:17:40:17.2681

2025-01-08T17:40:18.521Z,1736358018.521 [DAT](INFO): Rx dataTimestamp_ set to:1736358018.520479
2025-01-08T17:40:18.521Z,1736358018.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023899
2025-01-08T17:40:18.680Z,1736358018.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:18.701Z,1736358018.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.70 m.
2025-01-08T17:40:18.708Z,1736358018.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.699997 m,
      nav range: 128.239578 m,
      bearing: 115.354449 deg,
      approach rate: -0.338569 m/s,
      LOS rate: -0.125464 deg/s,
      cmd heading: 115.662123 deg,
      new cmd heading: 115.500411 deg.

2025-01-08T17:40:18.710Z,1736358018.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.015862 target range: 129.699997 and range: 129.70 m.
2025-01-08T17:40:18.773Z,1736358018.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275795
2025-01-08T17:40:19.030Z,1736358019.030 [DAT](INFO): DAT read: 17:40:17.2681 LVL= 21680, 21793, 11730, 27891, AGC= 59, IDX= 425,-0.28, 0.923, 0.244, 2.287, 1.362, PHS=-0.352,-1.072, 0.921, RAW= 189.1,   5.8, CAL= 189.2,  -2.9, ROT= 320.8,   2.9

2025-01-08T17:40:19.032Z,1736358019.032 [DAT](INFO): got valid direction response:
 17:40:17.2681 LVL= 21680, 21793, 11730, 27891, AGC= 59, IDX= 425,-0.28, 0.923, 0.244, 2.287, 1.362, PHS=-0.352,-1.072, 0.921, RAW= 189.1,   5.8, CAL= 189.2,  -2.9, ROT= 320.8,   2.9

2025-01-08T17:40:19.032Z,1736358019.032 [DAT](INFO): DAT read: Bearing 320.8,   2.9 (Local)

2025-01-08T17:40:19.033Z,1736358019.033 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.8,   2.9 (Local)

2025-01-08T17:40:19.034Z,1736358019.034 [DAT](INFO): DAT read: Range 10 to 50 : 128.6 m  (Round-trip  171.5 ms) speed  0.4 m/s

2025-01-08T17:40:19.035Z,1736358019.035 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:40:19.036Z,1736358019.036 [DAT](INFO): direction in FSK: [0.773952,-0.631220,-0.050593]
2025-01-08T17:40:19.036Z,1736358019.036 [DAT](INFO): publishing direction and range info
2025-01-08T17:40:19.062Z,1736358019.062 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:19.062Z,1736358019.062 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:19.062Z,1736358019.062 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:40:19.157Z,1736358019.157 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:19.187Z,1736358019.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 128.600006 m,
      deltaT: 3.779977 s,
      deltaX: -1.099991 m,
      approachRate: -0.291005 m/s,
      rangeRepo size: 4

2025-01-08T17:40:19.190Z,1736358019.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 128.600006 m,
      bearing: 121.333921 deg,
      lat: 36.904211 deg,
      lon: -122.119022 deg,
      deltaT: 3.779977 s,
      deltaX: -1.099991 m,
      approachRate: -0.291005 m/s,
      posRepo size: 4

2025-01-08T17:40:19.190Z,1736358019.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.60 m.
2025-01-08T17:40:19.198Z,1736358019.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.600006 m,
      nav range: 127.562073 m,
      bearing: 115.990675 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.125464 deg/s,
      cmd heading: 115.500411 deg,
      new cmd heading: 115.319297 deg.

2025-01-08T17:40:19.199Z,1736358019.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.012702 target range: 128.600006 and range: 128.60 m.
2025-01-08T17:40:19.282Z,1736358019.282 [DAT](INFO): DAT read: user:307>

2025-01-08T17:40:19.283Z,1736358019.283 [DAT](INFO): DAT read: Tx time:17:40:18.4924

2025-01-08T17:40:19.283Z,1736358019.283 [DAT](INFO): Ping request sent.
2025-01-08T17:40:19.283Z,1736358019.283 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:40:19.283Z,1736358019.283 [DAT](INFO): publishing transmit ping time
2025-01-08T17:40:19.284Z,1736358019.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762
2025-01-08T17:40:19.502Z,1736358019.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:19.523Z,1736358019.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.60 m.
2025-01-08T17:40:19.527Z,1736358019.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.600006 m,
      nav range: 127.421684 m,
      bearing: 115.953000 deg,
      approach rate: -0.416844 m/s,
      LOS rate: -0.111989 deg/s,
      cmd heading: 115.319302 deg,
      new cmd heading: 115.206152 deg.

2025-01-08T17:40:19.528Z,1736358019.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.010727 target range: 128.600006 and range: 128.60 m.
2025-01-08T17:40:19.533Z,1736358019.533 [DAT](INFO): DAT read: TxSync time:17:40:18.4916

2025-01-08T17:40:19.534Z,1736358019.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250212
2025-01-08T17:40:19.785Z,1736358019.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501398
2025-01-08T17:40:19.961Z,1736358019.961 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:19.990Z,1736358019.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.60 m.
2025-01-08T17:40:19.997Z,1736358019.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.600006 m,
      nav range: 127.205719 m,
      bearing: 115.907365 deg,
      approach rate: -0.458875 m/s,
      LOS rate: -0.097128 deg/s,
      cmd heading: 115.206153 deg,
      new cmd heading: 115.069017 deg.

2025-01-08T17:40:19.998Z,1736358019.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.008333 target range: 128.600006 and range: 128.60 m.
2025-01-08T17:40:20.036Z,1736358020.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753014
2025-01-08T17:40:20.288Z,1736358020.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005034
2025-01-08T17:40:20.312Z,1736358020.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:20.329Z,1736358020.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:20.330Z,1736358020.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.60 m.
2025-01-08T17:40:20.337Z,1736358020.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.600006 m,
      nav range: 127.038689 m,
      bearing: 115.874329 deg,
      approach rate: -0.490160 m/s,
      LOS rate: -0.097074 deg/s,
      cmd heading: 115.069017 deg,
      new cmd heading: 114.969777 deg.

2025-01-08T17:40:20.338Z,1736358020.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.006601 target range: 128.600006 and range: 128.60 m.
2025-01-08T17:40:20.541Z,1736358020.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257678
2025-01-08T17:40:20.703Z,1736358020.703 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:20.713Z,1736358020.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.60 m.
2025-01-08T17:40:20.716Z,1736358020.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.600006 m,
      nav range: 126.850777 m,
      bearing: 115.839523 deg,
      approach rate: -0.491227 m/s,
      LOS rate: -0.091122 deg/s,
      cmd heading: 114.969774 deg,
      new cmd heading: 114.865202 deg.

2025-01-08T17:40:20.717Z,1736358020.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.004776 target range: 128.600006 and range: 128.60 m.
2025-01-08T17:40:20.794Z,1736358020.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510474
2025-01-08T17:40:21.045Z,1736358021.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761202
2025-01-08T17:40:21.132Z,1736358021.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:21.140Z,1736358021.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.60 m.
2025-01-08T17:40:21.148Z,1736358021.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.600006 m,
      nav range: 126.639397 m,
      bearing: 115.805609 deg,
      approach rate: -0.494887 m/s,
      LOS rate: -0.079533 deg/s,
      cmd heading: 114.865204 deg,
      new cmd heading: 114.763291 deg.

2025-01-08T17:40:21.149Z,1736358021.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.002997 target range: 128.600006 and range: 128.60 m.
2025-01-08T17:40:21.296Z,1736358021.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013032
2025-01-08T17:40:21.520Z,1736358021.520 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:21.529Z,1736358021.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.60 m.
2025-01-08T17:40:21.532Z,1736358021.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.600006 m,
      nav range: 126.429489 m,
      bearing: 115.774785 deg,
      approach rate: -0.539514 m/s,
      LOS rate: -0.079356 deg/s,
      cmd heading: 114.763297 deg,
      new cmd heading: 114.670673 deg.

2025-01-08T17:40:21.533Z,1736358021.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.001381 target range: 128.600006 and range: 128.60 m.
2025-01-08T17:40:21.548Z,1736358021.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265020
2025-01-08T17:40:21.800Z,1736358021.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516892
2025-01-08T17:40:21.971Z,1736358021.971 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:21.985Z,1736358021.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.60 m.
2025-01-08T17:40:21.992Z,1736358021.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.600006 m,
      nav range: 126.195999 m,
      bearing: 115.743554 deg,
      approach rate: -0.512622 m/s,
      LOS rate: -0.068695 deg/s,
      cmd heading: 114.670680 deg,
      new cmd heading: 114.576812 deg.

2025-01-08T17:40:21.993Z,1736358021.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.999743 target range: 128.600006 and range: 128.60 m.
2025-01-08T17:40:22.053Z,1736358022.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769806
2025-01-08T17:40:22.304Z,1736358022.304 [DAT](INFO): DAT read: Rx Time:17:40:21.0656

2025-01-08T17:40:22.305Z,1736358022.305 [DAT](INFO): Rx dataTimestamp_ set to:1736358022.304362
2025-01-08T17:40:22.305Z,1736358022.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021868
2025-01-08T17:40:22.369Z,1736358022.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:22.376Z,1736358022.376 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:22.378Z,1736358022.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.60 m.
2025-01-08T17:40:22.381Z,1736358022.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.600006 m,
      nav range: 125.972473 m,
      bearing: 115.715775 deg,
      approach rate: -0.568726 m/s,
      LOS rate: -0.070804 deg/s,
      cmd heading: 114.576813 deg,
      new cmd heading: 114.493328 deg.

2025-01-08T17:40:22.382Z,1736358022.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.998286 target range: 128.600006 and range: 128.60 m.
2025-01-08T17:40:22.556Z,1736358022.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272909
2025-01-08T17:40:22.777Z,1736358022.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:22.790Z,1736358022.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.60 m.
2025-01-08T17:40:22.794Z,1736358022.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.600006 m,
      nav range: 125.745651 m,
      bearing: 115.687482 deg,
      approach rate: -0.549557 m/s,
      LOS rate: -0.068673 deg/s,
      cmd heading: 114.493327 deg,
      new cmd heading: 114.408296 deg.

2025-01-08T17:40:22.814Z,1736358022.814 [DAT](INFO): DAT read: 17:40:21.0656 LVL= 32752, 32753, 17906, 32755, AGC= 61, IDX= 416,-0.49, 1.185, 0.337, 2.313, 1.342, PHS=-0.069,-0.958, 0.968, RAW= 182.5,   0.7, CAL= 182.8,  -7.2, ROT= 327.2,   7.2

2025-01-08T17:40:22.816Z,1736358022.816 [DAT](INFO): got valid direction response:
 17:40:21.0656 LVL= 32752, 32753, 17906, 32755, AGC= 61, IDX= 416,-0.49, 1.185, 0.337, 2.313, 1.342, PHS=-0.069,-0.958, 0.968, RAW= 182.5,   0.7, CAL= 182.8,  -7.2, ROT= 327.2,   7.2

2025-01-08T17:40:22.817Z,1736358022.817 [DAT](INFO): DAT read: Bearing 327.2,   7.2 (Local)

2025-01-08T17:40:22.817Z,1736358022.817 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.2,   7.2 (Local)

2025-01-08T17:40:22.818Z,1736358022.818 [DAT](INFO): DAT read: Range 10 to 50 : 126.7 m  (Round-trip  169.0 ms) speed  0.1 m/s

2025-01-08T17:40:22.821Z,1736358022.821 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:40:22.825Z,1736358022.825 [DAT](INFO): direction in FSK: [0.833939,-0.537436,-0.125333]
2025-01-08T17:40:22.825Z,1736358022.825 [DAT](INFO): publishing direction and range info
2025-01-08T17:40:22.853Z,1736358022.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.996801 target range: 128.600006 and range: 128.60 m.
2025-01-08T17:40:22.862Z,1736358022.862 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:22.862Z,1736358022.862 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:22.862Z,1736358022.862 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:40:23.061Z,1736358023.061 [DAT](INFO): DAT read: user:308>

2025-01-08T17:40:23.061Z,1736358023.061 [DAT](INFO): DAT read: Tx time:17:40:22.2924

2025-01-08T17:40:23.062Z,1736358023.062 [DAT](INFO): Ping request sent.
2025-01-08T17:40:23.062Z,1736358023.062 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:40:23.062Z,1736358023.062 [DAT](INFO): publishing transmit ping time
2025-01-08T17:40:23.062Z,1736358023.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000715
2025-01-08T17:40:23.246Z,1736358023.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:23.282Z,1736358023.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 126.699997 m,
      deltaT: 3.784097 s,
      deltaX: -1.900009 m,
      approachRate: -0.502104 m/s,
      rangeRepo size: 4

2025-01-08T17:40:23.288Z,1736358023.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 126.699997 m,
      bearing: 110.659699 deg,
      lat: 36.904211 deg,
      lon: -122.119022 deg,
      deltaT: 3.784097 s,
      deltaX: -1.900009 m,
      approachRate: -0.502104 m/s,
      posRepo size: 4

2025-01-08T17:40:23.289Z,1736358023.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:23.296Z,1736358023.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 125.479713 m,
      bearing: 115.657615 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.068673 deg/s,
      cmd heading: 114.408298 deg,
      new cmd heading: 114.307278 deg.

2025-01-08T17:40:23.299Z,1736358023.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.995038 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:23.313Z,1736358023.313 [DAT](INFO): DAT read: TxSync time:17:40:22.2916

2025-01-08T17:40:23.314Z,1736358023.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251874
2025-01-08T17:40:23.565Z,1736358023.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503268
2025-01-08T17:40:23.604Z,1736358023.604 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:23.617Z,1736358023.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:23.621Z,1736358023.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 125.275978 m,
      bearing: 115.637450 deg,
      approach rate: -0.605812 m/s,
      LOS rate: -0.060058 deg/s,
      cmd heading: 114.307280 deg,
      new cmd heading: 114.246687 deg.

2025-01-08T17:40:23.622Z,1736358023.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.993981 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:23.816Z,1736358023.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754457
2025-01-08T17:40:24.041Z,1736358024.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:24.050Z,1736358024.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:24.053Z,1736358024.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 125.033478 m,
      bearing: 115.611276 deg,
      approach rate: -0.559843 m/s,
      LOS rate: -0.060544 deg/s,
      cmd heading: 114.246689 deg,
      new cmd heading: 114.168013 deg.

2025-01-08T17:40:24.054Z,1736358024.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.992608 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:24.068Z,1736358024.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006355
2025-01-08T17:40:24.320Z,1736358024.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258592
2025-01-08T17:40:24.423Z,1736358024.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:24.429Z,1736358024.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:24.431Z,1736358024.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:24.434Z,1736358024.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 124.818977 m,
      bearing: 115.594188 deg,
      approach rate: -0.563114 m/s,
      LOS rate: -0.044937 deg/s,
      cmd heading: 114.168012 deg,
      new cmd heading: 114.116661 deg.

2025-01-08T17:40:24.435Z,1736358024.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.991711 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:24.572Z,1736358024.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510435
2025-01-08T17:40:24.822Z,1736358024.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:24.825Z,1736358024.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763016
2025-01-08T17:40:24.833Z,1736358024.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:24.836Z,1736358024.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 124.593567 m,
      bearing: 115.579538 deg,
      approach rate: -0.560675 m/s,
      LOS rate: -0.036505 deg/s,
      cmd heading: 114.116663 deg,
      new cmd heading: 114.072634 deg.

2025-01-08T17:40:24.837Z,1736358024.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.990943 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:25.077Z,1736358025.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015112
2025-01-08T17:40:25.252Z,1736358025.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:25.261Z,1736358025.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:25.264Z,1736358025.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 124.361885 m,
      bearing: 115.563664 deg,
      approach rate: -0.542580 m/s,
      LOS rate: -0.037245 deg/s,
      cmd heading: 114.072635 deg,
      new cmd heading: 114.024925 deg.

2025-01-08T17:40:25.265Z,1736358025.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.990110 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:25.331Z,1736358025.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268772
2025-01-08T17:40:25.583Z,1736358025.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520451
2025-01-08T17:40:25.636Z,1736358025.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:25.650Z,1736358025.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:25.657Z,1736358025.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 124.160332 m,
      bearing: 115.552736 deg,
      approach rate: -0.517300 m/s,
      LOS rate: -0.028093 deg/s,
      cmd heading: 114.024927 deg,
      new cmd heading: 113.992089 deg.

2025-01-08T17:40:25.658Z,1736358025.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.989537 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:25.832Z,1736358025.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770466
2025-01-08T17:40:26.079Z,1736358026.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:26.084Z,1736358026.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022525
2025-01-08T17:40:26.090Z,1736358026.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:26.093Z,1736358026.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 123.933762 m,
      bearing: 115.534046 deg,
      approach rate: -0.515254 m/s,
      LOS rate: -0.042583 deg/s,
      cmd heading: 113.992087 deg,
      new cmd heading: 113.935913 deg.

2025-01-08T17:40:26.094Z,1736358026.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.988557 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:26.336Z,1736358026.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274552
2025-01-08T17:40:26.434Z,1736358026.434 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:26.441Z,1736358026.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:26.443Z,1736358026.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:26.446Z,1736358026.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 123.756195 m,
      bearing: 115.524465 deg,
      approach rate: -0.502717 m/s,
      LOS rate: -0.027163 deg/s,
      cmd heading: 113.935916 deg,
      new cmd heading: 113.907132 deg.

2025-01-08T17:40:26.447Z,1736358026.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.988055 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:26.594Z,1736358026.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531600
2025-01-08T17:40:26.840Z,1736358026.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778447
2025-01-08T17:40:26.898Z,1736358026.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:26.907Z,1736358026.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:26.911Z,1736358026.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 123.522850 m,
      bearing: 115.515183 deg,
      approach rate: -0.502793 m/s,
      LOS rate: -0.020038 deg/s,
      cmd heading: 113.907133 deg,
      new cmd heading: 113.879235 deg.

2025-01-08T17:40:26.912Z,1736358026.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.987568 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:27.093Z,1736358027.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031547
2025-01-08T17:40:27.306Z,1736358027.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:27.340Z,1736358027.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:27.342Z,1736358027.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 123.326797 m,
      bearing: 115.507232 deg,
      approach rate: -0.457659 m/s,
      LOS rate: -0.018592 deg/s,
      cmd heading: 113.879232 deg,
      new cmd heading: 113.855339 deg.

2025-01-08T17:40:27.345Z,1736358027.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283214
2025-01-08T17:40:27.348Z,1736358027.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.987151 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:27.598Z,1736358027.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535847
2025-01-08T17:40:27.702Z,1736358027.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:27.734Z,1736358027.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:27.740Z,1736358027.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 123.136154 m,
      bearing: 115.502156 deg,
      approach rate: -0.477985 m/s,
      LOS rate: -0.012745 deg/s,
      cmd heading: 113.855340 deg,
      new cmd heading: 113.840090 deg.

2025-01-08T17:40:27.742Z,1736358027.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.986884 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:27.849Z,1736358027.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787162
2025-01-08T17:40:28.100Z,1736358028.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038574
2025-01-08T17:40:28.152Z,1736358028.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:28.161Z,1736358028.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:28.165Z,1736358028.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 122.927917 m,
      bearing: 115.499348 deg,
      approach rate: -0.487378 m/s,
      LOS rate: -0.006584 deg/s,
      cmd heading: 113.840088 deg,
      new cmd heading: 113.831648 deg.

2025-01-08T17:40:28.166Z,1736358028.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.986737 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:28.352Z,1736358028.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290536
2025-01-08T17:40:28.507Z,1736358028.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:28.522Z,1736358028.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:28.524Z,1736358028.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:28.529Z,1736358028.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 122.763634 m,
      bearing: 115.499180 deg,
      approach rate: -0.453015 m/s,
      LOS rate: -0.000463 deg/s,
      cmd heading: 113.831646 deg,
      new cmd heading: 113.831142 deg.

2025-01-08T17:40:28.531Z,1736358028.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.986728 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:28.605Z,1736358028.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543413
2025-01-08T17:40:28.857Z,1736358028.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795187
2025-01-08T17:40:28.912Z,1736358028.912 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:28.920Z,1736358028.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:28.923Z,1736358028.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 122.576248 m,
      bearing: 115.501129 deg,
      approach rate: -0.473127 m/s,
      LOS rate: 0.004928 deg/s,
      cmd heading: 113.831140 deg,
      new cmd heading: 113.836996 deg.

2025-01-08T17:40:28.924Z,1736358028.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.986830 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:29.108Z,1736358029.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046513
2025-01-08T17:40:29.339Z,1736358029.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:29.349Z,1736358029.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:29.352Z,1736358029.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 122.376030 m,
      bearing: 115.508529 deg,
      approach rate: -0.466834 m/s,
      LOS rate: 0.017282 deg/s,
      cmd heading: 113.836994 deg,
      new cmd heading: 113.859230 deg.

2025-01-08T17:40:29.353Z,1736358029.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.987218 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:29.362Z,1736358029.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.300006
2025-01-08T17:40:29.612Z,1736358029.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550638
2025-01-08T17:40:29.727Z,1736358029.727 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:29.735Z,1736358029.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:29.738Z,1736358029.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 122.194771 m,
      bearing: 115.517044 deg,
      approach rate: -0.469284 m/s,
      LOS rate: 0.022080 deg/s,
      cmd heading: 113.859233 deg,
      new cmd heading: 113.884818 deg.

2025-01-08T17:40:29.739Z,1736358029.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.987665 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:29.864Z,1736358029.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802520
2025-01-08T17:40:30.116Z,1736358030.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054717
2025-01-08T17:40:30.159Z,1736358030.159 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:30.168Z,1736358030.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:30.171Z,1736358030.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 121.981705 m,
      bearing: 115.530539 deg,
      approach rate: -0.492126 m/s,
      LOS rate: 0.031223 deg/s,
      cmd heading: 113.884819 deg,
      new cmd heading: 113.925373 deg.

2025-01-08T17:40:30.172Z,1736358030.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.988373 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:30.368Z,1736358030.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306511
2025-01-08T17:40:30.530Z,1736358030.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:30.537Z,1736358030.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:30.539Z,1736358030.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:30.541Z,1736358030.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 121.799332 m,
      bearing: 115.543638 deg,
      approach rate: -0.492256 m/s,
      LOS rate: 0.035409 deg/s,
      cmd heading: 113.925370 deg,
      new cmd heading: 113.964726 deg.

2025-01-08T17:40:30.543Z,1736358030.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.989060 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:30.624Z,1736358030.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562078
2025-01-08T17:40:30.872Z,1736358030.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810462
2025-01-08T17:40:30.932Z,1736358030.932 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:30.941Z,1736358030.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:30.945Z,1736358030.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 121.602356 m,
      bearing: 115.559163 deg,
      approach rate: -0.489592 m/s,
      LOS rate: 0.038652 deg/s,
      cmd heading: 113.964725 deg,
      new cmd heading: 114.011378 deg.

2025-01-08T17:40:30.946Z,1736358030.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.989874 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:31.126Z,1736358031.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064065
2025-01-08T17:40:31.359Z,1736358031.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:31.368Z,1736358031.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:31.371Z,1736358031.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 121.375984 m,
      bearing: 115.580021 deg,
      approach rate: -0.530148 m/s,
      LOS rate: 0.048938 deg/s,
      cmd heading: 114.011375 deg,
      new cmd heading: 114.074065 deg.

2025-01-08T17:40:31.372Z,1736358031.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.990968 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:31.377Z,1736358031.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315620
2025-01-08T17:40:31.629Z,1736358031.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566777
2025-01-08T17:40:31.754Z,1736358031.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:31.763Z,1736358031.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:31.766Z,1736358031.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 121.166855 m,
      bearing: 115.600324 deg,
      approach rate: -0.529613 m/s,
      LOS rate: 0.051505 deg/s,
      cmd heading: 114.074063 deg,
      new cmd heading: 114.135077 deg.

2025-01-08T17:40:31.767Z,1736358031.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.992033 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:31.881Z,1736358031.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819067
2025-01-08T17:40:31.889Z,1736358031.889 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:40:32.132Z,1736358032.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070310
2025-01-08T17:40:32.171Z,1736358032.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:32.181Z,1736358032.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:32.184Z,1736358032.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 120.924217 m,
      bearing: 115.627810 deg,
      approach rate: -0.580673 m/s,
      LOS rate: 0.065912 deg/s,
      cmd heading: 114.135077 deg,
      new cmd heading: 114.217702 deg.

2025-01-08T17:40:32.185Z,1736358032.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.993475 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:32.385Z,1736358032.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322842
2025-01-08T17:40:32.540Z,1736358032.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:32.547Z,1736358032.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:32.549Z,1736358032.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:32.552Z,1736358032.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 120.710083 m,
      bearing: 115.652589 deg,
      approach rate: -0.580908 m/s,
      LOS rate: 0.067338 deg/s,
      cmd heading: 114.217702 deg,
      new cmd heading: 114.292168 deg.

2025-01-08T17:40:32.553Z,1736358032.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.994775 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:32.638Z,1736358032.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575652
2025-01-08T17:40:32.890Z,1736358032.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827997
2025-01-08T17:40:32.892Z,1736358032.892 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:40:32.972Z,1736358032.972 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:32.994Z,1736358032.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:33.001Z,1736358033.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 120.459648 m,
      bearing: 115.681682 deg,
      approach rate: -0.564074 m/s,
      LOS rate: 0.065666 deg/s,
      cmd heading: 114.292165 deg,
      new cmd heading: 114.379627 deg.

2025-01-08T17:40:33.002Z,1736358033.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.996301 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:33.140Z,1736358033.140 [DAT](INFO): Reached modem response timeout
2025-01-08T17:40:33.141Z,1736358033.141 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:40:33.141Z,1736358033.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:40:33.392Z,1736358033.392 [DAT](INFO): Reached modem response timeout
2025-01-08T17:40:33.393Z,1736358033.393 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:40:33.393Z,1736358033.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:40:33.429Z,1736358033.429 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:33.437Z,1736358033.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:33.440Z,1736358033.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 120.171471 m,
      bearing: 115.716528 deg,
      approach rate: -0.648917 m/s,
      LOS rate: 0.078653 deg/s,
      cmd heading: 114.379625 deg,
      new cmd heading: 114.484412 deg.

2025-01-08T17:40:33.441Z,1736358033.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.998130 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:33.644Z,1736358033.644 [DAT](INFO): Reached modem response timeout
2025-01-08T17:40:33.645Z,1736358033.645 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:40:33.645Z,1736358033.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:40:33.897Z,1736358033.897 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:40:33.897Z,1736358033.897 [DAT](INFO): response not received
2025-01-08T17:40:33.898Z,1736358033.898 [DAT](INFO): DAT read: user:309>

2025-01-08T17:40:33.899Z,1736358033.899 [DAT](INFO): DAT read: Tx time:17:40:33.2426

2025-01-08T17:40:33.899Z,1736358033.899 [DAT](INFO): Ping request sent.
2025-01-08T17:40:33.899Z,1736358033.899 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:40:33.899Z,1736358033.899 [DAT](INFO): publishing transmit ping time
2025-01-08T17:40:33.900Z,1736358033.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000858
2025-01-08T17:40:33.915Z,1736358033.915 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:33.923Z,1736358033.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:33.960Z,1736358033.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 119.866028 m,
      bearing: 115.753027 deg,
      approach rate: -0.628834 m/s,
      LOS rate: 0.075336 deg/s,
      cmd heading: 114.484414 deg,
      new cmd heading: 114.594192 deg.

2025-01-08T17:40:33.961Z,1736358033.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.000046 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:34.149Z,1736358034.149 [DAT](INFO): DAT read: TxSync time:17:40:33.2418

2025-01-08T17:40:34.149Z,1736358034.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250379
2025-01-08T17:40:34.346Z,1736358034.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:34.368Z,1736358034.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:34.371Z,1736358034.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 119.574448 m,
      bearing: 115.790505 deg,
      approach rate: -0.655387 m/s,
      LOS rate: 0.084445 deg/s,
      cmd heading: 114.594195 deg,
      new cmd heading: 114.706904 deg.

2025-01-08T17:40:34.377Z,1736358034.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.002013 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:34.400Z,1736358034.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501493
2025-01-08T17:40:34.652Z,1736358034.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753305
2025-01-08T17:40:34.821Z,1736358034.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:34.830Z,1736358034.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:34.832Z,1736358034.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:34.835Z,1736358034.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 119.252815 m,
      bearing: 115.831260 deg,
      approach rate: -0.693030 m/s,
      LOS rate: 0.088052 deg/s,
      cmd heading: 114.706907 deg,
      new cmd heading: 114.829501 deg.

2025-01-08T17:40:34.837Z,1736358034.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.004153 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:34.906Z,1736358034.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006754
2025-01-08T17:40:35.156Z,1736358035.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257221
2025-01-08T17:40:35.254Z,1736358035.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:35.264Z,1736358035.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:35.267Z,1736358035.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 118.947548 m,
      bearing: 115.869800 deg,
      approach rate: -0.706979 m/s,
      LOS rate: 0.089485 deg/s,
      cmd heading: 114.829495 deg,
      new cmd heading: 114.945412 deg.

2025-01-08T17:40:35.268Z,1736358035.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.006176 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:35.408Z,1736358035.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509324
2025-01-08T17:40:35.662Z,1736358035.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763528
2025-01-08T17:40:35.726Z,1736358035.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:35.734Z,1736358035.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:35.740Z,1736358035.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 118.614571 m,
      bearing: 115.910967 deg,
      approach rate: -0.707845 m/s,
      LOS rate: 0.087760 deg/s,
      cmd heading: 114.945417 deg,
      new cmd heading: 115.069266 deg.

2025-01-08T17:40:35.742Z,1736358035.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.008337 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:35.914Z,1736358035.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014610
2025-01-08T17:40:36.168Z,1736358036.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268487
2025-01-08T17:40:36.171Z,1736358036.171 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:36.199Z,1736358036.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:36.202Z,1736358036.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 118.301392 m,
      bearing: 115.949046 deg,
      approach rate: -0.674267 m/s,
      LOS rate: 0.082201 deg/s,
      cmd heading: 115.069262 deg,
      new cmd heading: 115.183802 deg.

2025-01-08T17:40:36.204Z,1736358036.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.010337 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:36.416Z,1736358036.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517541
2025-01-08T17:40:36.511Z,1736358036.511 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for beam range. Device response is::RA,  0.00,  .77
2025-01-08T17:40:36.519Z,1736358036.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.3 s old, using for 20.0 s.
2025-01-08T17:40:36.519Z,1736358036.519 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:36.529Z,1736358036.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:36.531Z,1736358036.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 118.055885 m,
      bearing: 115.978484 deg,
      approach rate: -0.744477 m/s,
      LOS rate: 0.089451 deg/s,
      cmd heading: 115.183805 deg,
      new cmd heading: 115.272300 deg.

2025-01-08T17:40:36.532Z,1736358036.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.011881 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:36.669Z,1736358036.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770132
2025-01-08T17:40:36.920Z,1736358036.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021392
2025-01-08T17:40:36.926Z,1736358036.926 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:40:36.927Z,1736358036.927 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:36.933Z,1736358036.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:36.936Z,1736358036.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:36.938Z,1736358036.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 117.769264 m,
      bearing: 116.012353 deg,
      approach rate: -0.704535 m/s,
      LOS rate: 0.083455 deg/s,
      cmd heading: 115.272297 deg,
      new cmd heading: 115.374151 deg.

2025-01-08T17:40:36.939Z,1736358036.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.013659 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:37.173Z,1736358037.173 [DAT](INFO): DAT read: Rx Time:17:40:35.8048

2025-01-08T17:40:37.173Z,1736358037.173 [DAT](INFO): Rx dataTimestamp_ set to:1736358037.172865
2025-01-08T17:40:37.174Z,1736358037.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274752
2025-01-08T17:40:37.349Z,1736358037.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:37.358Z,1736358037.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.70 m.
2025-01-08T17:40:37.373Z,1736358037.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.699997 m,
      nav range: 117.478821 m,
      bearing: 116.045295 deg,
      approach rate: -0.687466 m/s,
      LOS rate: 0.078166 deg/s,
      cmd heading: 115.374148 deg,
      new cmd heading: 115.473220 deg.

2025-01-08T17:40:37.374Z,1736358037.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.015388 target range: 126.699997 and range: 126.70 m.
2025-01-08T17:40:37.429Z,1736358037.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529686
2025-01-08T17:40:37.688Z,1736358037.688 [DAT](INFO): DAT read: 17:40:35.8048 LVL= 28464, 30145, 28146, 32755, AGC= 64, IDX= 303,-0.22,-2.820, 1.751,-3.081, 2.701, PHS= 0.850,-0.903, 0.499, RAW= 139.1,  -5.6, CAL= 144.8, -15.4, ROT=   5.2,  15.4

2025-01-08T17:40:37.689Z,1736358037.689 [DAT](INFO): got valid direction response:
 17:40:35.8048 LVL= 28464, 30145, 28146, 32755, AGC= 64, IDX= 303,-0.22,-2.820, 1.751,-3.081, 2.701, PHS= 0.850,-0.903, 0.499, RAW= 139.1,  -5.6, CAL= 144.8, -15.4, ROT=   5.2,  15.4

2025-01-08T17:40:37.691Z,1736358037.691 [DAT](INFO): DAT read: Bearing   5.2,  15.4 (Local)

2025-01-08T17:40:37.691Z,1736358037.691 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.2,  15.4 (Local)

2025-01-08T17:40:37.694Z,1736358037.694 [DAT](INFO): DAT read: Range 10 to 50 : 118.5 m  (Round-trip  158.1 ms) speed  0.5 m/s

2025-01-08T17:40:37.695Z,1736358037.695 [DAT](INFO): DAT read: user:310>

2025-01-08T17:40:37.697Z,1736358037.697 [DAT](INFO): DAT read: Tx time:17:40:36.8926

2025-01-08T17:40:37.697Z,1736358037.697 [DAT](INFO): Ping request sent.
2025-01-08T17:40:37.697Z,1736358037.697 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:40:37.698Z,1736358037.698 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:40:37.700Z,1736358037.700 [DAT](INFO): direction in FSK: [0.960128,0.087378,-0.265556]
2025-01-08T17:40:37.701Z,1736358037.701 [DAT](INFO): publishing transmit ping time
2025-01-08T17:40:37.701Z,1736358037.701 [DAT](INFO): publishing direction and range info
2025-01-08T17:40:37.708Z,1736358037.708 [DAT](INFO): publishing transmit ping time
2025-01-08T17:40:37.709Z,1736358037.709 [DAT](INFO): publishing direction and range info
2025-01-08T17:40:37.866Z,1736358037.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:37.915Z,1736358037.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 118.500000 m,
      deltaT: 14.868210 s,
      deltaX: -8.199997 m,
      approachRate: -0.551512 m/s,
      rangeRepo size: 4

2025-01-08T17:40:37.921Z,1736358037.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 118.500000 m,
      bearing: 120.884548 deg,
      lat: 36.904211 deg,
      lon: -122.119022 deg,
      deltaT: 14.868210 s,
      deltaX: -8.199997 m,
      approachRate: -0.551512 m/s,
      posRepo size: 4

2025-01-08T17:40:37.922Z,1736358037.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:37.929Z,1736358037.929 [DAT](INFO): DAT read: TxSync time:17:40:36.8918

2025-01-08T17:40:37.939Z,1736358037.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 117.125328 m,
      bearing: 116.084905 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.078166 deg/s,
      cmd heading: 115.473214 deg,
      new cmd heading: 115.603647 deg.

2025-01-08T17:40:37.940Z,1736358037.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.017664 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:38.296Z,1736358038.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:38.304Z,1736358038.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:38.307Z,1736358038.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 116.843597 m,
      bearing: 116.115293 deg,
      approach rate: -0.721992 m/s,
      LOS rate: 0.078061 deg/s,
      cmd heading: 115.603643 deg,
      new cmd heading: 115.695024 deg.

2025-01-08T17:40:38.308Z,1736358038.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.019259 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:38.716Z,1736358038.716 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:38.725Z,1736358038.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:38.728Z,1736358038.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 116.567062 m,
      bearing: 116.144991 deg,
      approach rate: -0.657969 m/s,
      LOS rate: 0.070829 deg/s,
      cmd heading: 115.695031 deg,
      new cmd heading: 115.784336 deg.

2025-01-08T17:40:38.732Z,1736358038.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.020818 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:39.100Z,1736358039.100 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:39.107Z,1736358039.107 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:39.110Z,1736358039.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:39.144Z,1736358039.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 116.315414 m,
      bearing: 116.172016 deg,
      approach rate: -0.653629 m/s,
      LOS rate: 0.070348 deg/s,
      cmd heading: 115.784342 deg,
      new cmd heading: 115.865594 deg.

2025-01-08T17:40:39.153Z,1736358039.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.022236 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:39.193Z,1736358039.193 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:39.193Z,1736358039.193 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:39.194Z,1736358039.194 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:40:39.441Z,1736358039.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743346
2025-01-08T17:40:39.528Z,1736358039.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:39.537Z,1736358039.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:39.540Z,1736358039.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 116.054947 m,
      bearing: 116.197419 deg,
      approach rate: -0.609910 m/s,
      LOS rate: 0.059617 deg/s,
      cmd heading: 115.865594 deg,
      new cmd heading: 115.941975 deg.

2025-01-08T17:40:39.541Z,1736358039.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.023569 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:39.693Z,1736358039.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995849
2025-01-08T17:40:39.916Z,1736358039.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:39.925Z,1736358039.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:39.929Z,1736358039.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 115.819069 m,
      bearing: 116.220534 deg,
      approach rate: -0.607008 m/s,
      LOS rate: 0.059605 deg/s,
      cmd heading: 115.941969 deg,
      new cmd heading: 116.011455 deg.

2025-01-08T17:40:39.930Z,1736358039.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.024782 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:39.944Z,1736358039.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247013
2025-01-08T17:40:40.200Z,1736358040.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501796
2025-01-08T17:40:40.332Z,1736358040.332 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-327WE,-32768,-32768,-32768,V
2025-01-08T17:40:40.339Z,1736358040.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:40:40.339Z,1736358040.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:40.380Z,1736358040.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:40.383Z,1736358040.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 115.562256 m,
      bearing: 116.245811 deg,
      approach rate: -0.564935 m/s,
      LOS rate: 0.055726 deg/s,
      cmd heading: 116.011460 deg,
      new cmd heading: 116.087457 deg.

2025-01-08T17:40:40.390Z,1736358040.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.026108 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:40.449Z,1736358040.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752177
2025-01-08T17:40:40.701Z,1736358040.701 [DAT](INFO): DAT read: Rx Time:17:40:39.4957

2025-01-08T17:40:40.701Z,1736358040.701 [DAT](INFO): Rx dataTimestamp_ set to:1736358040.700836
2025-01-08T17:40:40.702Z,1736358040.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004514
2025-01-08T17:40:40.751Z,1736358040.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:40:40.751Z,1736358040.751 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:40.761Z,1736358040.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:40.768Z,1736358040.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 115.311920 m,
      bearing: 116.270284 deg,
      approach rate: -0.657434 m/s,
      LOS rate: 0.064413 deg/s,
      cmd heading: 116.087452 deg,
      new cmd heading: 116.161033 deg.

2025-01-08T17:40:40.769Z,1736358040.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.027392 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:40.953Z,1736358040.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255869
2025-01-08T17:40:41.235Z,1736358041.235 [DAT](INFO): DAT read: 17:40:39.4957 LVL= 29680, 32753, 28018, 32755, AGC= 63, IDX= 353,-0.17, 0.676,-1.048, 0.478,-0.134, PHS= 0.898,-0.867, 0.609, RAW= 141.2,  -7.9, CAL= 147.5, -17.4, ROT=   2.5,  17.4

2025-01-08T17:40:41.245Z,1736358041.245 [DAT](INFO): got valid direction response:
 17:40:39.4957 LVL= 29680, 32753, 28018, 32755, AGC= 63, IDX= 353,-0.17, 0.676,-1.048, 0.478,-0.134, PHS= 0.898,-0.867, 0.609, RAW= 141.2,  -7.9, CAL= 147.5, -17.4, ROT=   2.5,  17.4

2025-01-08T17:40:41.246Z,1736358041.246 [DAT](INFO): DAT read: $Error in header

2025-01-08T17:40:41.246Z,1736358041.246 [DAT](INFO): Received a bad header
2025-01-08T17:40:41.261Z,1736358041.261 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-08T17:40:41.265Z,1736358041.265 [DAT](INFO): direction in FSK: [0.953332,0.041623,-0.299041]
2025-01-08T17:40:41.309Z,1736358041.309 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:41.309Z,1736358041.309 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:41.310Z,1736358041.310 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:41.376Z,1736358041.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:41.393Z,1736358041.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:41.400Z,1736358041.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:41.403Z,1736358041.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 114.980141 m,
      bearing: 116.289120 deg,
      approach rate: -0.518858 m/s,
      LOS rate: 0.029542 deg/s,
      cmd heading: 116.161027 deg,
      new cmd heading: 116.217698 deg.

2025-01-08T17:40:41.408Z,1736358041.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.028382 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:41.457Z,1736358041.457 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:41.457Z,1736358041.457 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:41.457Z,1736358041.457 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:41.708Z,1736358041.708 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:41.708Z,1736358041.708 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:41.708Z,1736358041.708 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:41.821Z,1736358041.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:41.850Z,1736358041.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:41.858Z,1736358041.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 114.738251 m,
      bearing: 116.302582 deg,
      approach rate: -0.538162 m/s,
      LOS rate: 0.030012 deg/s,
      cmd heading: 116.217704 deg,
      new cmd heading: 116.258173 deg.

2025-01-08T17:40:41.863Z,1736358041.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.029088 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:41.961Z,1736358041.961 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:41.961Z,1736358041.961 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:41.961Z,1736358041.961 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:42.215Z,1736358042.215 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:42.216Z,1736358042.216 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:42.216Z,1736358042.216 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:42.330Z,1736358042.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:42.339Z,1736358042.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:42.342Z,1736358042.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 114.466614 m,
      bearing: 116.314978 deg,
      approach rate: -0.555302 m/s,
      LOS rate: 0.025402 deg/s,
      cmd heading: 116.258180 deg,
      new cmd heading: 116.295458 deg.

2025-01-08T17:40:42.344Z,1736358042.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.029739 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:42.464Z,1736358042.464 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:42.464Z,1736358042.464 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:42.465Z,1736358042.465 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:42.704Z,1736358042.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:42.716Z,1736358042.716 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:42.716Z,1736358042.716 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:42.716Z,1736358042.716 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:42.733Z,1736358042.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:42.740Z,1736358042.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 114.266289 m,
      bearing: 116.324020 deg,
      approach rate: -0.508419 m/s,
      LOS rate: 0.022987 deg/s,
      cmd heading: 116.295459 deg,
      new cmd heading: 116.322631 deg.

2025-01-08T17:40:42.741Z,1736358042.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.030213 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:42.968Z,1736358042.968 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:42.968Z,1736358042.968 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:42.968Z,1736358042.968 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:43.108Z,1736358043.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:43.117Z,1736358043.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:43.120Z,1736358043.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 114.050514 m,
      bearing: 116.333531 deg,
      approach rate: -0.561353 m/s,
      LOS rate: 0.024791 deg/s,
      cmd heading: 116.322629 deg,
      new cmd heading: 116.351217 deg.

2025-01-08T17:40:43.121Z,1736358043.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.030712 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:43.224Z,1736358043.224 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:43.224Z,1736358043.224 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:43.224Z,1736358043.224 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:43.472Z,1736358043.472 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:43.472Z,1736358043.472 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:43.472Z,1736358043.472 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:43.558Z,1736358043.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:43.565Z,1736358043.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:43.567Z,1736358043.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:43.570Z,1736358043.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 113.803513 m,
      bearing: 116.345013 deg,
      approach rate: -0.548796 m/s,
      LOS rate: 0.025567 deg/s,
      cmd heading: 116.351221 deg,
      new cmd heading: 116.385742 deg.

2025-01-08T17:40:43.572Z,1736358043.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.031314 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:43.724Z,1736358043.724 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:43.724Z,1736358043.724 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:43.724Z,1736358043.724 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:43.919Z,1736358043.919 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:43.929Z,1736358043.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:43.932Z,1736358043.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 113.604973 m,
      bearing: 116.353983 deg,
      approach rate: -0.549156 m/s,
      LOS rate: 0.024855 deg/s,
      cmd heading: 116.385740 deg,
      new cmd heading: 116.412698 deg.

2025-01-08T17:40:43.933Z,1736358043.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.031785 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:43.978Z,1736358043.978 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:43.978Z,1736358043.978 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:43.978Z,1736358043.978 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:44.231Z,1736358044.231 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:44.231Z,1736358044.231 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:44.231Z,1736358044.231 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:44.387Z,1736358044.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:44.398Z,1736358044.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:44.401Z,1736358044.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 113.339500 m,
      bearing: 116.366942 deg,
      approach rate: -0.565692 m/s,
      LOS rate: 0.027678 deg/s,
      cmd heading: 116.412692 deg,
      new cmd heading: 116.451659 deg.

2025-01-08T17:40:44.402Z,1736358044.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.032465 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:44.482Z,1736358044.482 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:44.482Z,1736358044.482 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:44.482Z,1736358044.482 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:44.732Z,1736358044.732 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:44.732Z,1736358044.732 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:44.732Z,1736358044.732 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:44.759Z,1736358044.759 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:44.796Z,1736358044.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:44.804Z,1736358044.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 113.128220 m,
      bearing: 116.376849 deg,
      approach rate: -0.572567 m/s,
      LOS rate: 0.026897 deg/s,
      cmd heading: 116.451665 deg,
      new cmd heading: 116.481441 deg.

2025-01-08T17:40:44.805Z,1736358044.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.032985 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:44.985Z,1736358044.985 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:44.985Z,1736358044.985 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:44.985Z,1736358044.985 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:45.238Z,1736358045.238 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:45.239Z,1736358045.239 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:45.239Z,1736358045.239 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:45.344Z,1736358045.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:45.362Z,1736358045.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:45.369Z,1736358045.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 112.766724 m,
      bearing: 116.398540 deg,
      approach rate: -0.608030 m/s,
      LOS rate: 0.036602 deg/s,
      cmd heading: 116.481445 deg,
      new cmd heading: 116.546728 deg.

2025-01-08T17:40:45.370Z,1736358045.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.034124 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:45.489Z,1736358045.489 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:45.489Z,1736358045.489 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:45.489Z,1736358045.489 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:45.706Z,1736358045.706 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:45.720Z,1736358045.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:45.722Z,1736358045.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:45.730Z,1736358045.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 112.542618 m,
      bearing: 116.411232 deg,
      approach rate: -0.621358 m/s,
      LOS rate: 0.035258 deg/s,
      cmd heading: 116.546728 deg,
      new cmd heading: 116.584878 deg.

2025-01-08T17:40:45.731Z,1736358045.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.034790 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:45.740Z,1736358045.740 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:45.740Z,1736358045.740 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:45.740Z,1736358045.740 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:45.992Z,1736358045.992 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:45.993Z,1736358045.993 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:45.993Z,1736358045.993 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:46.147Z,1736358046.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:46.155Z,1736358046.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:46.158Z,1736358046.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 112.269661 m,
      bearing: 116.425393 deg,
      approach rate: -0.630682 m/s,
      LOS rate: 0.032799 deg/s,
      cmd heading: 116.584881 deg,
      new cmd heading: 116.627468 deg.

2025-01-08T17:40:46.160Z,1736358046.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.035533 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:46.245Z,1736358046.245 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:46.245Z,1736358046.245 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:46.245Z,1736358046.245 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:46.496Z,1736358046.496 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:46.496Z,1736358046.496 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:46.496Z,1736358046.496 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:46.570Z,1736358046.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:46.599Z,1736358046.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:46.602Z,1736358046.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 111.986122 m,
      bearing: 116.445494 deg,
      approach rate: -0.638841 m/s,
      LOS rate: 0.045405 deg/s,
      cmd heading: 116.627461 deg,
      new cmd heading: 116.687917 deg.

2025-01-08T17:40:46.603Z,1736358046.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.036588 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:46.748Z,1736358046.748 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:46.749Z,1736358046.749 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:46.749Z,1736358046.749 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:46.946Z,1736358046.946 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:46.974Z,1736358046.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:46.978Z,1736358046.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 111.734283 m,
      bearing: 116.462732 deg,
      approach rate: -0.676802 m/s,
      LOS rate: 0.046431 deg/s,
      cmd heading: 116.687922 deg,
      new cmd heading: 116.739752 deg.

2025-01-08T17:40:46.979Z,1736358046.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.037493 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:47.000Z,1736358047.000 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:47.000Z,1736358047.000 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:47.000Z,1736358047.000 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:47.255Z,1736358047.255 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:47.255Z,1736358047.255 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:47.256Z,1736358047.256 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:47.403Z,1736358047.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:47.414Z,1736358047.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:47.416Z,1736358047.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 111.402214 m,
      bearing: 116.489328 deg,
      approach rate: -0.750344 m/s,
      LOS rate: 0.060275 deg/s,
      cmd heading: 116.739749 deg,
      new cmd heading: 116.819775 deg.

2025-01-08T17:40:47.417Z,1736358047.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.038890 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:47.505Z,1736358047.505 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:47.505Z,1736358047.505 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:47.505Z,1736358047.505 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:47.740Z,1736358047.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:47.756Z,1736358047.756 [DAT](INFO): Reached modem response timeout
2025-01-08T17:40:47.756Z,1736358047.756 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:40:47.756Z,1736358047.756 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:40:47.770Z,1736358047.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:47.774Z,1736358047.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:47.781Z,1736358047.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 111.151352 m,
      bearing: 116.508158 deg,
      approach rate: -0.695510 m/s,
      LOS rate: 0.052323 deg/s,
      cmd heading: 116.819772 deg,
      new cmd heading: 116.876389 deg.

2025-01-08T17:40:47.782Z,1736358047.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.039878 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:48.009Z,1736358048.009 [DAT](INFO): Reached modem response timeout
2025-01-08T17:40:48.010Z,1736358048.010 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:40:48.010Z,1736358048.010 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:40:48.198Z,1736358048.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:48.206Z,1736358048.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:48.210Z,1736358048.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 110.813980 m,
      bearing: 116.532837 deg,
      approach rate: -0.780736 m/s,
      LOS rate: 0.057287 deg/s,
      cmd heading: 116.876394 deg,
      new cmd heading: 116.950658 deg.

2025-01-08T17:40:48.211Z,1736358048.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.041174 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:48.260Z,1736358048.260 [DAT](INFO): Reached modem response timeout
2025-01-08T17:40:48.261Z,1736358048.261 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:40:48.261Z,1736358048.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:40:48.512Z,1736358048.512 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:40:48.513Z,1736358048.513 [DAT](INFO): response not received
2025-01-08T17:40:48.513Z,1736358048.513 [DAT](INFO): DAT read: user:312>

2025-01-08T17:40:48.514Z,1736358048.514 [DAT](INFO): DAT read: Tx time:17:40:47.8427

2025-01-08T17:40:48.514Z,1736358048.514 [DAT](INFO): Ping request sent.
2025-01-08T17:40:48.514Z,1736358048.514 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:40:48.514Z,1736358048.514 [DAT](INFO): publishing transmit ping time
2025-01-08T17:40:48.515Z,1736358048.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-01-08T17:40:48.616Z,1736358048.616 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:48.644Z,1736358048.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:48.647Z,1736358048.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 110.492348 m,
      bearing: 116.562135 deg,
      approach rate: -0.734750 m/s,
      LOS rate: 0.067124 deg/s,
      cmd heading: 116.950652 deg,
      new cmd heading: 117.038801 deg.

2025-01-08T17:40:48.654Z,1736358048.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.042712 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:48.764Z,1736358048.764 [DAT](INFO): DAT read: TxSync time:17:40:47.8419

2025-01-08T17:40:48.765Z,1736358048.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250994
2025-01-08T17:40:49.016Z,1736358049.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501986
2025-01-08T17:40:49.080Z,1736358049.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:49.088Z,1736358049.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:49.090Z,1736358049.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 110.134613 m,
      bearing: 116.594369 deg,
      approach rate: -0.806724 m/s,
      LOS rate: 0.072928 deg/s,
      cmd heading: 117.038802 deg,
      new cmd heading: 117.135819 deg.

2025-01-08T17:40:49.092Z,1736358049.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.044406 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:49.270Z,1736358049.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756116
2025-01-08T17:40:49.496Z,1736358049.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:49.505Z,1736358049.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:49.508Z,1736358049.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 109.806351 m,
      bearing: 116.622980 deg,
      approach rate: -0.786949 m/s,
      LOS rate: 0.068795 deg/s,
      cmd heading: 117.135818 deg,
      new cmd heading: 117.221908 deg.

2025-01-08T17:40:49.510Z,1736358049.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.045908 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:49.520Z,1736358049.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006114
2025-01-08T17:40:49.772Z,1736358049.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258055
2025-01-08T17:40:49.885Z,1736358049.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:49.894Z,1736358049.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:49.896Z,1736358049.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:49.898Z,1736358049.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 109.499084 m,
      bearing: 116.649455 deg,
      approach rate: -0.785347 m/s,
      LOS rate: 0.067856 deg/s,
      cmd heading: 117.221906 deg,
      new cmd heading: 117.301552 deg.

2025-01-08T17:40:49.900Z,1736358049.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047298 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:50.025Z,1736358050.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510539
2025-01-08T17:40:50.277Z,1736358050.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762471
2025-01-08T17:40:50.288Z,1736358050.288 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:50.309Z,1736358050.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:50.338Z,1736358050.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 109.182007 m,
      bearing: 116.676851 deg,
      approach rate: -0.768133 m/s,
      LOS rate: 0.066562 deg/s,
      cmd heading: 117.301546 deg,
      new cmd heading: 117.383974 deg.

2025-01-08T17:40:50.352Z,1736358050.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048737 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:50.528Z,1736358050.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013992
2025-01-08T17:40:50.780Z,1736358050.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266192
2025-01-08T17:40:50.817Z,1736358050.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:50.831Z,1736358050.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:50.834Z,1736358050.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 108.775444 m,
      bearing: 116.711270 deg,
      approach rate: -0.784053 m/s,
      LOS rate: 0.066624 deg/s,
      cmd heading: 117.383973 deg,
      new cmd heading: 117.487614 deg.

2025-01-08T17:40:50.840Z,1736358050.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050546 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:51.032Z,1736358051.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517950
2025-01-08T17:40:51.191Z,1736358051.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:51.216Z,1736358051.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:51.219Z,1736358051.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 108.488274 m,
      bearing: 116.735738 deg,
      approach rate: -0.738489 m/s,
      LOS rate: 0.063088 deg/s,
      cmd heading: 117.487614 deg,
      new cmd heading: 117.561212 deg.

2025-01-08T17:40:51.220Z,1736358051.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051830 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:51.284Z,1736358051.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770171
2025-01-08T17:40:51.536Z,1736358051.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022129
2025-01-08T17:40:51.643Z,1736358051.643 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:51.652Z,1736358051.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:51.654Z,1736358051.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 108.157265 m,
      bearing: 116.763466 deg,
      approach rate: -0.760472 m/s,
      LOS rate: 0.063900 deg/s,
      cmd heading: 117.561216 deg,
      new cmd heading: 117.644657 deg.

2025-01-08T17:40:51.656Z,1736358051.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053287 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:51.788Z,1736358051.788 [DAT](INFO): DAT read: Rx Time:17:40:50.3924

2025-01-08T17:40:51.789Z,1736358051.789 [DAT](INFO): Rx dataTimestamp_ set to:1736358051.788509
2025-01-08T17:40:51.789Z,1736358051.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275129
2025-01-08T17:40:52.037Z,1736358052.037 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:52.040Z,1736358052.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526140
2025-01-08T17:40:52.096Z,1736358052.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:52.112Z,1736358052.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.50 m.
2025-01-08T17:40:52.125Z,1736358052.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.500000 m,
      nav range: 107.868172 m,
      bearing: 116.787825 deg,
      approach rate: -0.635491 m/s,
      LOS rate: 0.053688 deg/s,
      cmd heading: 117.644654 deg,
      new cmd heading: 117.717924 deg.

2025-01-08T17:40:52.126Z,1736358052.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054565 target range: 118.500000 and range: 118.50 m.
2025-01-08T17:40:52.299Z,1736358052.299 [DAT](INFO): DAT read: 17:40:50.3924 LVL= 22368, 23745, 19218, 32579, AGC= 63, IDX= 415, 0.05, 1.319,-0.473, 1.079, 0.488, PHS= 0.920,-0.914, 0.589, RAW= 140.2,  -7.1, CAL= 146.3, -16.8, ROT=   3.7,  16.8

2025-01-08T17:40:52.302Z,1736358052.302 [DAT](INFO): got valid direction response:
 17:40:50.3924 LVL= 22368, 23745, 19218, 32579, AGC= 63, IDX= 415, 0.05, 1.319,-0.473, 1.079, 0.488, PHS= 0.920,-0.914, 0.589, RAW= 140.2,  -7.1, CAL= 146.3, -16.8, ROT=   3.7,  16.8

2025-01-08T17:40:52.305Z,1736358052.305 [DAT](INFO): DAT read: Bearing   3.7,  16.8 (Local)

2025-01-08T17:40:52.306Z,1736358052.306 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.7,  16.8 (Local)

2025-01-08T17:40:52.308Z,1736358052.308 [DAT](INFO): DAT read: Range 10 to 50 : 109.2 m  (Round-trip  145.6 ms) speed  0.2 m/s

2025-01-08T17:40:52.309Z,1736358052.309 [DAT](INFO): DAT read: user:313>

2025-01-08T17:40:52.310Z,1736358052.310 [DAT](INFO): DAT read: Tx time:17:40:51.4927

2025-01-08T17:40:52.310Z,1736358052.310 [DAT](INFO): Ping request sent.
2025-01-08T17:40:52.310Z,1736358052.310 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:40:52.311Z,1736358052.311 [DAT](INFO): DAT read: TxSync time:17:40:51.4919

2025-01-08T17:40:52.312Z,1736358052.312 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:40:52.313Z,1736358052.313 [DAT](INFO): direction in FSK: [0.955324,0.061778,-0.289032]
2025-01-08T17:40:52.313Z,1736358052.313 [DAT](INFO): publishing transmit ping time
2025-01-08T17:40:52.313Z,1736358052.313 [DAT](INFO): publishing direction and range info
2025-01-08T17:40:52.316Z,1736358052.316 [DAT](INFO): publishing transmit ping time
2025-01-08T17:40:52.317Z,1736358052.317 [DAT](INFO): publishing direction and range info
2025-01-08T17:40:52.547Z,1736358052.547 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:52.600Z,1736358052.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 109.199997 m,
      deltaT: 14.616129 s,
      deltaX: -9.300003 m,
      approachRate: -0.636284 m/s,
      rangeRepo size: 4

2025-01-08T17:40:52.603Z,1736358052.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 109.199997 m,
      bearing: 123.184586 deg,
      lat: 36.904127 deg,
      lon: -122.119061 deg,
      deltaT: 14.616129 s,
      deltaX: -9.300003 m,
      approachRate: -0.636284 m/s,
      posRepo size: 4

2025-01-08T17:40:52.608Z,1736358052.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:40:52.615Z,1736358052.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 109.026634 m,
      bearing: 122.020862 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.053688 deg/s,
      cmd heading: 117.717928 deg,
      new cmd heading: 117.796704 deg.

2025-01-08T17:40:52.616Z,1736358052.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055940 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:40:52.894Z,1736358052.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:52.902Z,1736358052.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:40:52.907Z,1736358052.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 108.795128 m,
      bearing: 122.048558 deg,
      approach rate: -0.754311 m/s,
      LOS rate: 0.090433 deg/s,
      cmd heading: 117.796707 deg,
      new cmd heading: 117.879972 deg.

2025-01-08T17:40:52.908Z,1736358052.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057394 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:40:53.295Z,1736358053.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:53.305Z,1736358053.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:40:53.308Z,1736358053.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 108.527939 m,
      bearing: 122.080840 deg,
      approach rate: -0.663842 m/s,
      LOS rate: 0.080404 deg/s,
      cmd heading: 117.879967 deg,
      new cmd heading: 117.977053 deg.

2025-01-08T17:40:53.310Z,1736358053.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.059088 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:40:53.735Z,1736358053.735 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:53.744Z,1736358053.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:40:53.747Z,1736358053.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 108.260887 m,
      bearing: 122.106057 deg,
      approach rate: -0.607467 m/s,
      LOS rate: 0.057503 deg/s,
      cmd heading: 117.977052 deg,
      new cmd heading: 118.052889 deg.

2025-01-08T17:40:53.748Z,1736358053.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.060412 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:40:54.155Z,1736358054.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:54.162Z,1736358054.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:54.164Z,1736358054.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:40:54.167Z,1736358054.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 108.005836 m,
      bearing: 122.130836 deg,
      approach rate: -0.607511 m/s,
      LOS rate: 0.059160 deg/s,
      cmd heading: 118.052894 deg,
      new cmd heading: 118.127405 deg.

2025-01-08T17:40:54.168Z,1736358054.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.061712 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:40:54.310Z,1736358054.310 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:54.310Z,1736358054.310 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:54.310Z,1736358054.310 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:40:54.561Z,1736358054.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250309
2025-01-08T17:40:54.588Z,1736358054.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:54.614Z,1736358054.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:40:54.632Z,1736358054.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 107.766830 m,
      bearing: 122.145238 deg,
      approach rate: -0.531887 m/s,
      LOS rate: 0.032122 deg/s,
      cmd heading: 118.127411 deg,
      new cmd heading: 118.170714 deg.

2025-01-08T17:40:54.633Z,1736358054.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.062468 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:40:54.816Z,1736358054.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505998
2025-01-08T17:40:55.066Z,1736358055.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755503
2025-01-08T17:40:55.098Z,1736358055.098 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:55.107Z,1736358055.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:40:55.110Z,1736358055.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 107.485825 m,
      bearing: 122.163134 deg,
      approach rate: -0.570051 m/s,
      LOS rate: 0.036399 deg/s,
      cmd heading: 118.170715 deg,
      new cmd heading: 118.224544 deg.

2025-01-08T17:40:55.112Z,1736358055.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.063408 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:40:55.316Z,1736358055.316 [DAT](INFO): DAT read: Rx Time:17:40:54.0841

2025-01-08T17:40:55.317Z,1736358055.317 [DAT](INFO): Rx dataTimestamp_ set to:1736358055.316505
2025-01-08T17:40:55.317Z,1736358055.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007063
2025-01-08T17:40:55.536Z,1736358055.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:55.566Z,1736358055.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:40:55.568Z,1736358055.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258104
2025-01-08T17:40:55.572Z,1736358055.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 107.258072 m,
      bearing: 122.174807 deg,
      approach rate: -0.496123 m/s,
      LOS rate: 0.025480 deg/s,
      cmd heading: 118.224550 deg,
      new cmd heading: 118.259642 deg.

2025-01-08T17:40:55.574Z,1736358055.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.064020 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:40:55.827Z,1736358055.827 [DAT](INFO): DAT read: 17:40:54.0841 LVL= 29424, 23697, 22306, 32755, AGC= 64, IDX= 361, 0.22,-2.096, 2.465,-2.398,-2.885, PHS= 0.877,-0.886, 0.483, RAW= 137.7,  -6.0, CAL= 143.5, -16.0, ROT=   6.5,  16.0

2025-01-08T17:40:55.828Z,1736358055.828 [DAT](INFO): got valid direction response:
 17:40:54.0841 LVL= 29424, 23697, 22306, 32755, AGC= 64, IDX= 361, 0.22,-2.096, 2.465,-2.398,-2.885, PHS= 0.877,-0.886, 0.483, RAW= 137.7,  -6.0, CAL= 143.5, -16.0, ROT=   6.5,  16.0

2025-01-08T17:40:55.829Z,1736358055.829 [DAT](INFO): DAT read: Bearing   6.5,  16.0 (Local)

2025-01-08T17:40:55.829Z,1736358055.829 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.5,  16.0 (Local)

2025-01-08T17:40:55.831Z,1736358055.831 [DAT](INFO): DAT read: Range 10 to 50 : 140.4 m  (Round-trip  187.2 ms) speed  0.7 m/s

2025-01-08T17:40:55.832Z,1736358055.832 [DAT](INFO): DAT read: user:314>

2025-01-08T17:40:55.833Z,1736358055.833 [DAT](INFO): DAT read: Tx time:17:40:55.1928

2025-01-08T17:40:55.833Z,1736358055.833 [DAT](INFO): Ping request sent.
2025-01-08T17:40:55.833Z,1736358055.833 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:40:55.833Z,1736358055.833 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:40:55.834Z,1736358055.834 [DAT](INFO): direction in FSK: [0.955083,0.108818,-0.275637]
2025-01-08T17:40:55.835Z,1736358055.835 [DAT](INFO): publishing transmit ping time
2025-01-08T17:40:55.835Z,1736358055.835 [DAT](INFO): publishing direction and range info
2025-01-08T17:40:55.846Z,1736358055.846 [DAT](INFO): publishing transmit ping time
2025-01-08T17:40:55.847Z,1736358055.847 [DAT](INFO): publishing direction and range info
2025-01-08T17:40:55.934Z,1736358055.934 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:56.007Z,1736358056.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 140.399994 m,
 deltaT: 3.527547 s,
 deltaX: 31.199997 m,
 approachRate: 8.844672 m/s,
 rangeRepo size: 4
2025-01-08T17:40:56.013Z,1736358056.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:40:56.025Z,1736358056.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 107.051079 m,
      bearing: 122.185715 deg,
      approach rate: -0.470017 m/s,
      LOS rate: 0.024818 deg/s,
      cmd heading: 118.259644 deg,
      new cmd heading: 118.292433 deg.

2025-01-08T17:40:56.026Z,1736358056.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.064592 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:40:56.074Z,1736358056.074 [DAT](INFO): DAT read: TxSync time:17:40:55.1920

2025-01-08T17:40:56.365Z,1736358056.365 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:56.378Z,1736358056.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:56.380Z,1736358056.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:40:56.388Z,1736358056.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 106.826958 m,
      bearing: 122.197574 deg,
      approach rate: -0.598665 m/s,
      LOS rate: 0.031743 deg/s,
      cmd heading: 118.292429 deg,
      new cmd heading: 118.328080 deg.

2025-01-08T17:40:56.389Z,1736358056.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.065215 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:40:56.576Z,1736358056.576 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:56.577Z,1736358056.577 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:56.577Z,1736358056.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:40:56.813Z,1736358056.813 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:56.821Z,1736358056.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:40:56.824Z,1736358056.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 106.600731 m,
      bearing: 122.206474 deg,
      approach rate: -0.512901 m/s,
      LOS rate: 0.020221 deg/s,
      cmd heading: 118.328082 deg,
      new cmd heading: 118.354840 deg.

2025-01-08T17:40:56.826Z,1736358056.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.065682 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:40:56.829Z,1736358056.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995444
2025-01-08T17:40:57.082Z,1736358057.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248027
2025-01-08T17:40:57.165Z,1736358057.165 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:57.174Z,1736358057.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:40:57.177Z,1736358057.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 106.422493 m,
      bearing: 122.213513 deg,
      approach rate: -0.506159 m/s,
      LOS rate: 0.020022 deg/s,
      cmd heading: 118.354843 deg,
      new cmd heading: 118.375995 deg.

2025-01-08T17:40:57.178Z,1736358057.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.066051 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:40:57.332Z,1736358057.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499010
2025-01-08T17:40:57.584Z,1736358057.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751226
2025-01-08T17:40:57.588Z,1736358057.588 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:57.597Z,1736358057.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:40:57.600Z,1736358057.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 106.201073 m,
      bearing: 122.223624 deg,
      approach rate: -0.523195 m/s,
      LOS rate: 0.023942 deg/s,
      cmd heading: 118.375989 deg,
      new cmd heading: 118.406386 deg.

2025-01-08T17:40:57.601Z,1736358057.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.066581 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:40:57.836Z,1736358057.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003043
2025-01-08T17:40:57.973Z,1736358057.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:57.982Z,1736358057.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:40:57.985Z,1736358057.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 105.998497 m,
      bearing: 122.233095 deg,
      approach rate: -0.525880 m/s,
      LOS rate: 0.024634 deg/s,
      cmd heading: 118.406384 deg,
      new cmd heading: 118.434851 deg.

2025-01-08T17:40:57.987Z,1736358057.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.067078 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:40:58.088Z,1736358058.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255171
2025-01-08T17:40:58.340Z,1736358058.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507198
2025-01-08T17:40:58.387Z,1736358058.387 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:58.395Z,1736358058.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:40:58.401Z,1736358058.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:40:58.408Z,1736358058.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 105.783272 m,
      bearing: 122.243101 deg,
      approach rate: -0.513725 m/s,
      LOS rate: 0.023930 deg/s,
      cmd heading: 118.434852 deg,
      new cmd heading: 118.464929 deg.

2025-01-08T17:40:58.410Z,1736358058.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.067603 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:40:58.594Z,1736358058.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760468
2025-01-08T17:40:58.784Z,1736358058.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:58.813Z,1736358058.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:40:58.820Z,1736358058.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 105.552109 m,
      bearing: 122.258166 deg,
      approach rate: -0.560904 m/s,
      LOS rate: 0.036636 deg/s,
      cmd heading: 118.464932 deg,
      new cmd heading: 118.510228 deg.

2025-01-08T17:40:58.821Z,1736358058.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.068394 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:40:58.845Z,1736358058.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011400
2025-01-08T17:40:59.096Z,1736358059.096 [DAT](INFO): DAT read: Rx Time:17:40:57.7370

2025-01-08T17:40:59.097Z,1736358059.097 [DAT](INFO): Rx dataTimestamp_ set to:1736358059.096586
2025-01-08T17:40:59.097Z,1736358059.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264258
2025-01-08T17:40:59.181Z,1736358059.181 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:59.198Z,1736358059.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:40:59.205Z,1736358059.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 105.322876 m,
      bearing: 122.272883 deg,
      approach rate: -0.595887 m/s,
      LOS rate: 0.038340 deg/s,
      cmd heading: 118.510230 deg,
      new cmd heading: 118.554478 deg.

2025-01-08T17:40:59.206Z,1736358059.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.069166 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:40:59.348Z,1736358059.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514995
2025-01-08T17:40:59.606Z,1736358059.606 [DAT](INFO): DAT read: 17:40:57.7370 LVL= 28320, 28017, 20642, 28067, AGC= 65, IDX= 470,-0.28,-0.508,-1.875,-0.655,-1.117, PHS= 0.697,-0.711, 0.459, RAW= 140.9,  -6.9, CAL= 147.0, -16.4, ROT=   3.0,  16.4

2025-01-08T17:40:59.608Z,1736358059.608 [DAT](INFO): got valid direction response:
 17:40:57.7370 LVL= 28320, 28017, 20642, 28067, AGC= 65, IDX= 470,-0.28,-0.508,-1.875,-0.655,-1.117, PHS= 0.697,-0.711, 0.459, RAW= 140.9,  -6.9, CAL= 147.0, -16.4, ROT=   3.0,  16.4

2025-01-08T17:40:59.609Z,1736358059.609 [DAT](INFO): DAT read: $Error in header

2025-01-08T17:40:59.609Z,1736358059.609 [DAT](INFO): Received a bad header
2025-01-08T17:40:59.628Z,1736358059.628 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-08T17:40:59.629Z,1736358059.629 [DAT](INFO): direction in FSK: [0.957999,0.050207,-0.282341]
2025-01-08T17:40:59.632Z,1736358059.632 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:59.632Z,1736358059.632 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:59.632Z,1736358059.632 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:59.664Z,1736358059.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:40:59.705Z,1736358059.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:40:59.716Z,1736358059.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 105.047775 m,
      bearing: 122.298001 deg,
      approach rate: -0.542673 m/s,
      LOS rate: 0.049678 deg/s,
      cmd heading: 118.554476 deg,
      new cmd heading: 118.630027 deg.

2025-01-08T17:40:59.717Z,1736358059.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.070485 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:40:59.852Z,1736358059.852 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:40:59.852Z,1736358059.852 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:40:59.852Z,1736358059.852 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:40:59.996Z,1736358059.996 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:00.020Z,1736358060.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:00.023Z,1736358060.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 104.815437 m,
      bearing: 122.318882 deg,
      approach rate: -0.736197 m/s,
      LOS rate: 0.066311 deg/s,
      cmd heading: 118.630031 deg,
      new cmd heading: 118.692813 deg.

2025-01-08T17:41:00.030Z,1736358060.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.071580 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:00.106Z,1736358060.106 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:00.106Z,1736358060.106 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:00.106Z,1736358060.106 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:00.356Z,1736358060.356 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:00.356Z,1736358060.356 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:00.356Z,1736358060.356 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:00.411Z,1736358060.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:00.426Z,1736358060.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:00.433Z,1736358060.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:00.446Z,1736358060.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 104.556862 m,
      bearing: 122.341820 deg,
      approach rate: -0.627023 m/s,
      LOS rate: 0.055760 deg/s,
      cmd heading: 118.692814 deg,
      new cmd heading: 118.761798 deg.

2025-01-08T17:41:00.457Z,1736358060.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.072784 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:00.608Z,1736358060.608 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:00.608Z,1736358060.608 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:00.608Z,1736358060.608 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:00.830Z,1736358060.830 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:00.838Z,1736358060.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:00.841Z,1736358060.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 104.274841 m,
      bearing: 122.379200 deg,
      approach rate: -0.695060 m/s,
      LOS rate: 0.092375 deg/s,
      cmd heading: 118.761799 deg,
      new cmd heading: 118.874243 deg.

2025-01-08T17:41:00.860Z,1736358060.860 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:00.861Z,1736358060.861 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:00.861Z,1736358060.861 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:00.861Z,1736358060.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.074747 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:01.112Z,1736358061.112 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:01.112Z,1736358061.112 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:01.112Z,1736358061.112 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:01.228Z,1736358061.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:01.236Z,1736358061.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:01.239Z,1736358061.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 104.006996 m,
      bearing: 122.414299 deg,
      approach rate: -0.673592 m/s,
      LOS rate: 0.088497 deg/s,
      cmd heading: 118.874238 deg,
      new cmd heading: 118.979807 deg.

2025-01-08T17:41:01.240Z,1736358061.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.076589 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:01.364Z,1736358061.364 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:01.364Z,1736358061.364 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:01.364Z,1736358061.364 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:01.616Z,1736358061.616 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:01.616Z,1736358061.616 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:01.616Z,1736358061.616 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:01.701Z,1736358061.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:01.714Z,1736358061.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:01.721Z,1736358061.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 103.662216 m,
      bearing: 122.464301 deg,
      approach rate: -0.722110 m/s,
      LOS rate: 0.105072 deg/s,
      cmd heading: 118.979805 deg,
      new cmd heading: 119.130308 deg.

2025-01-08T17:41:01.722Z,1736358061.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.079216 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:01.869Z,1736358061.869 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:01.869Z,1736358061.869 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:01.869Z,1736358061.869 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:02.058Z,1736358062.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:02.066Z,1736358062.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:02.069Z,1736358062.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 103.401276 m,
      bearing: 122.501081 deg,
      approach rate: -0.739428 m/s,
      LOS rate: 0.104486 deg/s,
      cmd heading: 119.130302 deg,
      new cmd heading: 119.240920 deg.

2025-01-08T17:41:02.070Z,1736358062.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.081147 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:02.121Z,1736358062.121 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:02.121Z,1736358062.121 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:02.121Z,1736358062.121 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:02.372Z,1736358062.372 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:02.372Z,1736358062.372 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:02.372Z,1736358062.372 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:02.566Z,1736358062.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:02.572Z,1736358062.572 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:02.574Z,1736358062.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:02.579Z,1736358062.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 103.030434 m,
      bearing: 122.552819 deg,
      approach rate: -0.729900 m/s,
      LOS rate: 0.102198 deg/s,
      cmd heading: 119.240923 deg,
      new cmd heading: 119.396696 deg.

2025-01-08T17:41:02.580Z,1736358062.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.083865 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:02.624Z,1736358062.624 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:02.624Z,1736358062.624 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:02.624Z,1736358062.624 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:02.877Z,1736358062.877 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:02.877Z,1736358062.877 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:02.877Z,1736358062.877 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:02.987Z,1736358062.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:02.997Z,1736358062.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:03.000Z,1736358063.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 102.712791 m,
      bearing: 122.604658 deg,
      approach rate: -0.751538 m/s,
      LOS rate: 0.123030 deg/s,
      cmd heading: 119.396693 deg,
      new cmd heading: 119.552691 deg.

2025-01-08T17:41:03.001Z,1736358063.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.086588 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:03.020Z,1736358063.020 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:41:03.130Z,1736358063.130 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:03.130Z,1736358063.130 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:03.130Z,1736358063.130 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:03.376Z,1736358063.376 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:03.380Z,1736358063.380 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:03.380Z,1736358063.380 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:03.380Z,1736358063.380 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:03.386Z,1736358063.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:03.389Z,1736358063.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 102.420097 m,
      bearing: 122.652105 deg,
      approach rate: -0.752415 m/s,
      LOS rate: 0.122320 deg/s,
      cmd heading: 119.552694 deg,
      new cmd heading: 119.695443 deg.

2025-01-08T17:41:03.390Z,1736358063.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.089080 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:03.633Z,1736358063.633 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:03.633Z,1736358063.633 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:03.633Z,1736358063.633 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:03.806Z,1736358063.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:03.816Z,1736358063.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:03.819Z,1736358063.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 102.087708 m,
      bearing: 122.703971 deg,
      approach rate: -0.773557 m/s,
      LOS rate: 0.121097 deg/s,
      cmd heading: 119.695445 deg,
      new cmd heading: 119.851548 deg.

2025-01-08T17:41:03.820Z,1736358063.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.091804 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:03.885Z,1736358063.885 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:03.885Z,1736358063.885 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:03.885Z,1736358063.885 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:04.024Z,1736358064.024 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:41:04.063Z,1736358064.063 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-08T17:41:04.138Z,1736358064.138 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:04.138Z,1736358064.138 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:04.138Z,1736358064.138 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:04.199Z,1736358064.199 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:04.227Z,1736358064.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:04.230Z,1736358064.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 101.784447 m,
      bearing: 122.750318 deg,
      approach rate: -0.744533 m/s,
      LOS rate: 0.114125 deg/s,
      cmd heading: 119.851542 deg,
      new cmd heading: 119.990998 deg.

2025-01-08T17:41:04.235Z,1736358064.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094238 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:04.388Z,1736358064.388 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:04.388Z,1736358064.388 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:04.388Z,1736358064.388 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:04.635Z,1736358064.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:04.640Z,1736358064.640 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:04.640Z,1736358064.640 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:04.640Z,1736358064.640 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:04.645Z,1736358064.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:04.647Z,1736358064.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:04.650Z,1736358064.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 101.455589 m,
      bearing: 122.799892 deg,
      approach rate: -0.776387 m/s,
      LOS rate: 0.117417 deg/s,
      cmd heading: 119.991001 deg,
      new cmd heading: 120.140205 deg.

2025-01-08T17:41:04.651Z,1736358064.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.096842 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:04.893Z,1736358064.893 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:04.893Z,1736358064.893 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:04.893Z,1736358064.893 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:05.006Z,1736358065.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:05.016Z,1736358065.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:05.018Z,1736358065.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 101.175789 m,
      bearing: 122.841873 deg,
      approach rate: -0.757897 m/s,
      LOS rate: 0.114028 deg/s,
      cmd heading: 120.140200 deg,
      new cmd heading: 120.266490 deg.

2025-01-08T17:41:05.020Z,1736358065.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099046 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:05.145Z,1736358065.145 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:05.145Z,1736358065.145 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:05.145Z,1736358065.145 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:05.396Z,1736358065.396 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:05.396Z,1736358065.396 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:05.396Z,1736358065.396 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:05.414Z,1736358065.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:05.422Z,1736358065.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:05.426Z,1736358065.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 100.868546 m,
      bearing: 122.887632 deg,
      approach rate: -0.755919 m/s,
      LOS rate: 0.112927 deg/s,
      cmd heading: 120.266490 deg,
      new cmd heading: 120.404187 deg.

2025-01-08T17:41:05.429Z,1736358065.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.101449 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:05.648Z,1736358065.648 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:05.648Z,1736358065.648 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:05.648Z,1736358065.648 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:05.836Z,1736358065.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:05.861Z,1736358065.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:05.868Z,1736358065.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 100.564781 m,
      bearing: 122.931788 deg,
      approach rate: -0.692460 m/s,
      LOS rate: 0.100961 deg/s,
      cmd heading: 120.404187 deg,
      new cmd heading: 120.537053 deg.

2025-01-08T17:41:05.869Z,1736358065.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.103768 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:05.900Z,1736358065.900 [DAT](INFO): Reached modem response timeout
2025-01-08T17:41:05.900Z,1736358065.900 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:41:05.901Z,1736358065.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:41:06.152Z,1736358066.152 [DAT](INFO): Reached modem response timeout
2025-01-08T17:41:06.152Z,1736358066.152 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:41:06.152Z,1736358066.152 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:41:06.229Z,1736358066.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:06.244Z,1736358066.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:06.247Z,1736358066.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 100.281219 m,
      bearing: 122.973004 deg,
      approach rate: -0.741514 m/s,
      LOS rate: 0.108084 deg/s,
      cmd heading: 120.537047 deg,
      new cmd heading: 120.661044 deg.

2025-01-08T17:41:06.248Z,1736358066.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105932 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:06.405Z,1736358066.405 [DAT](INFO): Reached modem response timeout
2025-01-08T17:41:06.406Z,1736358066.406 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:41:06.406Z,1736358066.406 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:41:06.656Z,1736358066.656 [DAT](INFO): Reached modem response timeout
2025-01-08T17:41:06.656Z,1736358066.656 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:41:06.656Z,1736358066.656 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:41:06.767Z,1736358066.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:06.778Z,1736358066.778 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:06.785Z,1736358066.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:06.793Z,1736358066.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 99.914604 m,
      bearing: 123.018415 deg,
      approach rate: -0.677005 m/s,
      LOS rate: 0.084166 deg/s,
      cmd heading: 120.661043 deg,
      new cmd heading: 120.797777 deg.

2025-01-08T17:41:06.794Z,1736358066.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108319 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:06.910Z,1736358066.910 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:41:06.910Z,1736358066.910 [DAT](INFO): response not received
2025-01-08T17:41:06.910Z,1736358066.910 [DAT](INFO): DAT read: user:316>

2025-01-08T17:41:06.911Z,1736358066.911 [DAT](INFO): DAT read: Tx time:17:41:06.1429

2025-01-08T17:41:06.911Z,1736358066.911 [DAT](INFO): Ping request sent.
2025-01-08T17:41:06.911Z,1736358066.911 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:41:06.912Z,1736358066.912 [DAT](INFO): publishing transmit ping time
2025-01-08T17:41:06.912Z,1736358066.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761
2025-01-08T17:41:07.161Z,1736358067.161 [DAT](INFO): DAT read: TxSync time:17:41:06.1421

2025-01-08T17:41:07.162Z,1736358067.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250817
2025-01-08T17:41:07.245Z,1736358067.245 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:07.257Z,1736358067.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:07.261Z,1736358067.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 99.584076 m,
      bearing: 123.059437 deg,
      approach rate: -0.700722 m/s,
      LOS rate: 0.087255 deg/s,
      cmd heading: 120.797783 deg,
      new cmd heading: 120.921256 deg.

2025-01-08T17:41:07.262Z,1736358067.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.110474 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:07.412Z,1736358067.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500874
2025-01-08T17:41:07.664Z,1736358067.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752661
2025-01-08T17:41:07.738Z,1736358067.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:07.768Z,1736358067.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:07.770Z,1736358067.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 99.270981 m,
      bearing: 123.088552 deg,
      approach rate: -0.612509 m/s,
      LOS rate: 0.057138 deg/s,
      cmd heading: 120.921259 deg,
      new cmd heading: 121.008881 deg.

2025-01-08T17:41:07.772Z,1736358067.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.112003 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:07.917Z,1736358067.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004943
2025-01-08T17:41:08.134Z,1736358068.134 [WetLabsUBAT](ERROR): Failed to parse incomplete device message.
2025-01-08T17:41:08.153Z,1736358068.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:08.161Z,1736358068.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:08.169Z,1736358068.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257009
2025-01-08T17:41:08.180Z,1736358068.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 99.007759 m,
      bearing: 123.112680 deg,
      approach rate: -0.669302 m/s,
      LOS rate: 0.061513 deg/s,
      cmd heading: 121.008877 deg,
      new cmd heading: 121.081452 deg.

2025-01-08T17:41:08.181Z,1736358068.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.113270 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:08.354Z,1736358068.354 [CTD_Seabird](ERROR): Failed to parse device response: .50
2025-01-08T17:41:08.420Z,1736358068.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508701
2025-01-08T17:41:08.558Z,1736358068.558 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:08.572Z,1736358068.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:08.575Z,1736358068.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 98.750610 m,
      bearing: 123.135883 deg,
      approach rate: -0.625852 m/s,
      LOS rate: 0.056620 deg/s,
      cmd heading: 121.081455 deg,
      new cmd heading: 121.151246 deg.

2025-01-08T17:41:08.577Z,1736358068.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.114488 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:08.673Z,1736358068.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761712
2025-01-08T17:41:08.924Z,1736358068.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012782
2025-01-08T17:41:08.988Z,1736358068.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:08.996Z,1736358068.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:08.998Z,1736358068.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:09.020Z,1736358069.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 98.494896 m,
      bearing: 123.153641 deg,
      approach rate: -0.600376 m/s,
      LOS rate: 0.041801 deg/s,
      cmd heading: 121.151245 deg,
      new cmd heading: 121.204657 deg.

2025-01-08T17:41:09.021Z,1736358069.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.115420 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:09.176Z,1736358069.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264813
2025-01-08T17:41:09.370Z,1736358069.370 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:09.413Z,1736358069.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:09.416Z,1736358069.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 98.268288 m,
      bearing: 123.169719 deg,
      approach rate: -0.545968 m/s,
      LOS rate: 0.038825 deg/s,
      cmd heading: 121.204657 deg,
      new cmd heading: 121.253001 deg.

2025-01-08T17:41:09.417Z,1736358069.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.116264 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:09.428Z,1736358069.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516889
2025-01-08T17:41:09.682Z,1736358069.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770000
2025-01-08T17:41:09.816Z,1736358069.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:09.824Z,1736358069.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:09.828Z,1736358069.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 98.021530 m,
      bearing: 123.181512 deg,
      approach rate: -0.600301 m/s,
      LOS rate: 0.028763 deg/s,
      cmd heading: 121.253002 deg,
      new cmd heading: 121.288471 deg.

2025-01-08T17:41:09.829Z,1736358069.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.116883 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:09.936Z,1736358069.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023910
2025-01-08T17:41:10.176Z,1736358070.176 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:10.190Z,1736358070.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278320
2025-01-08T17:41:10.191Z,1736358070.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:10.194Z,1736358070.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 97.821587 m,
      bearing: 123.191184 deg,
      approach rate: -0.550797 m/s,
      LOS rate: 0.026698 deg/s,
      cmd heading: 121.288478 deg,
      new cmd heading: 121.317553 deg.

2025-01-08T17:41:10.195Z,1736358070.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.117391 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:10.440Z,1736358070.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528769
2025-01-08T17:41:10.680Z,1736358070.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:10.693Z,1736358070.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781698
2025-01-08T17:41:10.705Z,1736358070.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:10.713Z,1736358070.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 97.542282 m,
      bearing: 123.204892 deg,
      approach rate: -0.539053 m/s,
      LOS rate: 0.026532 deg/s,
      cmd heading: 121.317547 deg,
      new cmd heading: 121.358789 deg.

2025-01-08T17:41:10.714Z,1736358070.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.118110 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:10.945Z,1736358070.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033081
2025-01-08T17:41:11.071Z,1736358071.071 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:11.078Z,1736358071.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:11.081Z,1736358071.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:11.084Z,1736358071.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 97.327118 m,
      bearing: 123.211727 deg,
      approach rate: -0.573256 m/s,
      LOS rate: 0.018249 deg/s,
      cmd heading: 121.358788 deg,
      new cmd heading: 121.379336 deg.

2025-01-08T17:41:11.085Z,1736358071.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.118469 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:11.196Z,1736358071.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284884
2025-01-08T17:41:11.449Z,1736358071.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537485
2025-01-08T17:41:11.500Z,1736358071.500 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:11.508Z,1736358071.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:11.512Z,1736358071.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 97.090973 m,
      bearing: 123.219418 deg,
      approach rate: -0.552398 m/s,
      LOS rate: 0.018036 deg/s,
      cmd heading: 121.379333 deg,
      new cmd heading: 121.402464 deg.

2025-01-08T17:41:11.513Z,1736358071.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.118873 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:11.701Z,1736358071.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789277
2025-01-08T17:41:11.940Z,1736358071.940 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:11.952Z,1736358071.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040805
2025-01-08T17:41:11.969Z,1736358071.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:11.977Z,1736358071.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 96.853989 m,
      bearing: 123.223660 deg,
      approach rate: -0.513825 m/s,
      LOS rate: 0.009219 deg/s,
      cmd heading: 121.402460 deg,
      new cmd heading: 121.415216 deg.

2025-01-08T17:41:11.978Z,1736358071.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.119095 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:12.205Z,1736358072.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293883
2025-01-08T17:41:12.424Z,1736358072.424 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:12.435Z,1736358072.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:12.437Z,1736358072.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 96.593491 m,
      bearing: 123.228276 deg,
      approach rate: -0.559806 m/s,
      LOS rate: 0.009947 deg/s,
      cmd heading: 121.415219 deg,
      new cmd heading: 121.429104 deg.

2025-01-08T17:41:12.438Z,1736358072.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.119338 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:12.456Z,1736358072.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544866
2025-01-08T17:41:12.711Z,1736358072.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799051
2025-01-08T17:41:12.848Z,1736358072.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:12.868Z,1736358072.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:12.877Z,1736358072.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 96.352631 m,
      bearing: 123.238788 deg,
      approach rate: -0.555433 m/s,
      LOS rate: 0.024302 deg/s,
      cmd heading: 121.429097 deg,
      new cmd heading: 121.460713 deg.

2025-01-08T17:41:12.879Z,1736358072.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.119889 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:12.961Z,1736358072.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049235
2025-01-08T17:41:13.212Z,1736358073.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.300860
2025-01-08T17:41:13.225Z,1736358073.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:13.232Z,1736358073.232 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:13.234Z,1736358073.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:13.236Z,1736358073.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 96.137794 m,
      bearing: 123.248153 deg,
      approach rate: -0.587888 m/s,
      LOS rate: 0.025684 deg/s,
      cmd heading: 121.460708 deg,
      new cmd heading: 121.488865 deg.

2025-01-08T17:41:13.237Z,1736358073.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.120381 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:13.465Z,1736358073.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553446
2025-01-08T17:41:13.674Z,1736358073.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:13.717Z,1736358073.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805006
2025-01-08T17:41:13.721Z,1736358073.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:13.728Z,1736358073.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 95.883049 m,
      bearing: 123.259312 deg,
      approach rate: -0.522826 m/s,
      LOS rate: 0.022963 deg/s,
      cmd heading: 121.488862 deg,
      new cmd heading: 121.522427 deg.

2025-01-08T17:41:13.729Z,1736358073.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.120966 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:13.968Z,1736358073.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056930
2025-01-08T17:41:14.057Z,1736358074.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:14.090Z,1736358074.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:14.097Z,1736358074.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 95.657814 m,
      bearing: 123.271480 deg,
      approach rate: -0.609777 m/s,
      LOS rate: 0.033020 deg/s,
      cmd heading: 121.522425 deg,
      new cmd heading: 121.559015 deg.

2025-01-08T17:41:14.098Z,1736358074.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.121605 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:14.221Z,1736358074.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309576
2025-01-08T17:41:14.468Z,1736358074.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:14.472Z,1736358074.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560832
2025-01-08T17:41:14.489Z,1736358074.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:14.496Z,1736358074.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 95.416550 m,
      bearing: 123.284495 deg,
      approach rate: -0.605339 m/s,
      LOS rate: 0.032737 deg/s,
      cmd heading: 121.559021 deg,
      new cmd heading: 121.598165 deg.

2025-01-08T17:41:14.497Z,1736358074.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.122288 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:14.729Z,1736358074.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.816605
2025-01-08T17:41:14.863Z,1736358074.863 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:14.872Z,1736358074.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:14.874Z,1736358074.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 95.174591 m,
      bearing: 123.302608 deg,
      approach rate: -0.632348 m/s,
      LOS rate: 0.047459 deg/s,
      cmd heading: 121.598158 deg,
      new cmd heading: 121.652637 deg.

2025-01-08T17:41:14.877Z,1736358074.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.123239 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:14.979Z,1736358074.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066982
2025-01-08T17:41:15.232Z,1736358075.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.320667
2025-01-08T17:41:15.246Z,1736358075.246 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:15.255Z,1736358075.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:15.257Z,1736358075.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:15.260Z,1736358075.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 94.940079 m,
      bearing: 123.320059 deg,
      approach rate: -0.607819 m/s,
      LOS rate: 0.045342 deg/s,
      cmd heading: 121.652636 deg,
      new cmd heading: 121.705118 deg.

2025-01-08T17:41:15.261Z,1736358075.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.124155 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:15.484Z,1736358075.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572845
2025-01-08T17:41:15.665Z,1736358075.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:15.726Z,1736358075.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:15.740Z,1736358075.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.828108
2025-01-08T17:41:15.743Z,1736358075.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 94.683517 m,
      bearing: 123.339250 deg,
      approach rate: -0.555096 m/s,
      LOS rate: 0.041635 deg/s,
      cmd heading: 121.705119 deg,
      new cmd heading: 121.762849 deg.

2025-01-08T17:41:15.744Z,1736358075.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.125163 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:15.988Z,1736358075.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076691
2025-01-08T17:41:16.155Z,1736358076.155 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:16.172Z,1736358076.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:16.176Z,1736358076.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 94.371254 m,
      bearing: 123.371794 deg,
      approach rate: -0.690833 m/s,
      LOS rate: 0.072236 deg/s,
      cmd heading: 121.762848 deg,
      new cmd heading: 121.860801 deg.

2025-01-08T17:41:16.177Z,1736358076.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.126872 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:16.243Z,1736358076.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331923
2025-01-08T17:41:16.487Z,1736358076.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:16.496Z,1736358076.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.584953
2025-01-08T17:41:16.498Z,1736358076.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:16.506Z,1736358076.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 94.159302 m,
      bearing: 123.393287 deg,
      approach rate: -0.648436 m/s,
      LOS rate: 0.065902 deg/s,
      cmd heading: 121.860806 deg,
      new cmd heading: 121.925430 deg.

2025-01-08T17:41:16.507Z,1736358076.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.128000 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:16.752Z,1736358076.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.839377
2025-01-08T17:41:16.903Z,1736358076.903 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -36.+1748.52,      -55.27,

2025-01-08T17:41:16.911Z,1736358076.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:41:16.911Z,1736358076.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:16.920Z,1736358076.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:16.923Z,1736358076.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 93.889259 m,
      bearing: 123.420359 deg,
      approach rate: -0.639656 m/s,
      LOS rate: 0.064312 deg/s,
      cmd heading: 121.925434 deg,
      new cmd heading: 122.006886 deg.

2025-01-08T17:41:16.925Z,1736358076.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.129422 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:17.001Z,1736358077.001 [DAT](INFO): Reached modem response timeout
2025-01-08T17:41:17.001Z,1736358077.001 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:41:17.001Z,1736358077.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:41:17.252Z,1736358077.252 [DAT](INFO): Reached modem response timeout
2025-01-08T17:41:17.252Z,1736358077.252 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:41:17.252Z,1736358077.252 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:41:17.319Z,1736358077.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:41:17.319Z,1736358077.319 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:17.326Z,1736358077.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:17.336Z,1736358077.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:17.339Z,1736358077.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 93.628815 m,
      bearing: 123.445951 deg,
      approach rate: -0.626408 m/s,
      LOS rate: 0.061722 deg/s,
      cmd heading: 122.006891 deg,
      new cmd heading: 122.083878 deg.

2025-01-08T17:41:17.340Z,1736358077.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.130766 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:17.504Z,1736358077.504 [DAT](INFO): Reached modem response timeout
2025-01-08T17:41:17.504Z,1736358077.504 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:41:17.504Z,1736358077.504 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:41:17.760Z,1736358077.760 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:41:17.761Z,1736358077.761 [DAT](INFO): response not received
2025-01-08T17:41:17.763Z,1736358077.763 [DAT](INFO): DAT read: user:317>

2025-01-08T17:41:17.766Z,1736358077.766 [DAT](INFO): DAT read: Tx time:17:41:17.0930

2025-01-08T17:41:17.767Z,1736358077.767 [DAT](INFO): Ping request sent.
2025-01-08T17:41:17.768Z,1736358077.768 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:41:17.769Z,1736358077.769 [DAT](INFO): publishing transmit ping time
2025-01-08T17:41:17.770Z,1736358077.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003144
2025-01-08T17:41:17.801Z,1736358077.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.3 s old, using for 20.0 s.
2025-01-08T17:41:17.801Z,1736358077.801 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:17.828Z,1736358077.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:17.831Z,1736358077.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 93.321419 m,
      bearing: 123.476342 deg,
      approach rate: -0.626109 m/s,
      LOS rate: 0.062105 deg/s,
      cmd heading: 122.083880 deg,
      new cmd heading: 122.175354 deg.

2025-01-08T17:41:17.839Z,1736358077.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.132362 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:18.009Z,1736358078.009 [DAT](INFO): DAT read: TxSync time:17:41:17.0922

2025-01-08T17:41:18.010Z,1736358078.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.242720
2025-01-08T17:41:18.260Z,1736358078.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.493330
2025-01-08T17:41:18.300Z,1736358078.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:18.309Z,1736358078.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:18.312Z,1736358078.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 92.970978 m,
      bearing: 123.516618 deg,
      approach rate: -0.727897 m/s,
      LOS rate: 0.083973 deg/s,
      cmd heading: 122.175350 deg,
      new cmd heading: 122.296634 deg.

2025-01-08T17:41:18.313Z,1736358078.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.134479 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:18.514Z,1736358078.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746538
2025-01-08T17:41:18.680Z,1736358078.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:18.694Z,1736358078.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:18.719Z,1736358078.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 92.704742 m,
      bearing: 123.546815 deg,
      approach rate: -0.691379 m/s,
      LOS rate: 0.078642 deg/s,
      cmd heading: 122.296641 deg,
      new cmd heading: 122.387491 deg.

2025-01-08T17:41:18.720Z,1736358078.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.136065 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:18.768Z,1736358078.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999973
2025-01-08T17:41:19.016Z,1736358079.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249103
2025-01-08T17:41:19.184Z,1736358079.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:19.193Z,1736358079.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:19.196Z,1736358079.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 92.349701 m,
      bearing: 123.591117 deg,
      approach rate: -0.712483 m/s,
      LOS rate: 0.089246 deg/s,
      cmd heading: 122.387496 deg,
      new cmd heading: 122.520914 deg.

2025-01-08T17:41:19.197Z,1736358079.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.138393 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:19.269Z,1736358079.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501459
2025-01-08T17:41:19.522Z,1736358079.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754852
2025-01-08T17:41:19.579Z,1736358079.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:19.585Z,1736358079.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:19.588Z,1736358079.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:19.590Z,1736358079.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 92.070656 m,
      bearing: 123.625665 deg,
      approach rate: -0.705745 m/s,
      LOS rate: 0.087642 deg/s,
      cmd heading: 122.520917 deg,
      new cmd heading: 122.624876 deg.

2025-01-08T17:41:19.592Z,1736358079.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.140208 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:19.776Z,1736358079.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007704
2025-01-08T17:41:20.003Z,1736358080.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:20.013Z,1736358080.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:20.015Z,1736358080.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 91.768585 m,
      bearing: 123.661779 deg,
      approach rate: -0.710693 m/s,
      LOS rate: 0.085246 deg/s,
      cmd heading: 122.624872 deg,
      new cmd heading: 122.733570 deg.

2025-01-08T17:41:20.016Z,1736358080.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.142105 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:20.024Z,1736358080.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257255
2025-01-08T17:41:20.277Z,1736358080.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510177
2025-01-08T17:41:20.368Z,1736358080.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:20.377Z,1736358080.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:20.380Z,1736358080.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 91.509384 m,
      bearing: 123.692569 deg,
      approach rate: -0.711469 m/s,
      LOS rate: 0.084753 deg/s,
      cmd heading: 122.733568 deg,
      new cmd heading: 122.826199 deg.

2025-01-08T17:41:20.381Z,1736358080.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.143722 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:20.528Z,1736358080.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761133
2025-01-08T17:41:20.784Z,1736358080.784 [DAT](INFO): DAT read: Rx Time:17:41:19.6179

2025-01-08T17:41:20.786Z,1736358080.786 [DAT](INFO): Rx dataTimestamp_ set to:1736358080.784566
2025-01-08T17:41:20.796Z,1736358080.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019839
2025-01-08T17:41:20.889Z,1736358080.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:20.899Z,1736358080.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:20.918Z,1736358080.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 91.132904 m,
      bearing: 123.735082 deg,
      approach rate: -0.721374 m/s,
      LOS rate: 0.081797 deg/s,
      cmd heading: 122.826199 deg,
      new cmd heading: 122.954267 deg.

2025-01-08T17:41:20.919Z,1736358080.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.145957 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:21.032Z,1736358081.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265184
2025-01-08T17:41:21.287Z,1736358081.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519615
2025-01-08T17:41:21.371Z,1736358081.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:21.388Z,1736358081.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:21.390Z,1736358081.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 90.785599 m,
      bearing: 123.774003 deg,
      approach rate: -0.714323 m/s,
      LOS rate: 0.080357 deg/s,
      cmd heading: 122.954265 deg,
      new cmd heading: 123.071474 deg.

2025-01-08T17:41:21.392Z,1736358081.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.148002 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:21.543Z,1736358081.543 [DAT](INFO): DAT read: 17:41:19.6179 LVL= 30048, 32753, 22818, 32755, AGC= 65, IDX= 193, 0.09, 1.779, 0.451, 1.840, 1.533, PHS= 0.334,-1.035, 0.304, RAW= 148.9,   5.9, CAL= 150.5,  -2.9, ROT= 359.5,   2.9

2025-01-08T17:41:21.545Z,1736358081.545 [DAT](INFO): got valid direction response:
 17:41:19.6179 LVL= 30048, 32753, 22818, 32755, AGC= 65, IDX= 193, 0.09, 1.779, 0.451, 1.840, 1.533, PHS= 0.334,-1.035, 0.304, RAW= 148.9,   5.9, CAL= 150.5,  -2.9, ROT= 359.5,   2.9

2025-01-08T17:41:21.545Z,1736358081.545 [DAT](INFO): DAT read: $Error in header

2025-01-08T17:41:21.545Z,1736358081.545 [DAT](INFO): Received a bad header
2025-01-08T17:41:21.560Z,1736358081.560 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-08T17:41:21.561Z,1736358081.561 [DAT](INFO): direction in FSK: [0.998681,-0.008715,-0.050593]
2025-01-08T17:41:21.564Z,1736358081.564 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:21.565Z,1736358081.565 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:21.565Z,1736358081.565 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:21.790Z,1736358081.790 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:21.790Z,1736358081.790 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:21.791Z,1736358081.791 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:21.866Z,1736358081.866 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for beam range. Device response is::RA  60.16,  50.98,  58.80,  52.00
2025-01-08T17:41:21.873Z,1736358081.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.5 s old, using for 20.0 s.
2025-01-08T17:41:21.873Z,1736358081.873 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:21.889Z,1736358081.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:21.894Z,1736358081.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:21.900Z,1736358081.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 90.423729 m,
      bearing: 123.814459 deg,
      approach rate: -0.710624 m/s,
      LOS rate: 0.079763 deg/s,
      cmd heading: 123.071471 deg,
      new cmd heading: 123.193323 deg.

2025-01-08T17:41:21.902Z,1736358081.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.150129 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:22.040Z,1736358082.040 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:22.040Z,1736358082.040 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:22.040Z,1736358082.040 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:22.293Z,1736358082.293 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:22.293Z,1736358082.293 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:22.293Z,1736358082.293 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:22.346Z,1736358082.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.0 s old, using for 20.0 s.
2025-01-08T17:41:22.347Z,1736358082.347 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:22.355Z,1736358082.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:22.358Z,1736358082.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 90.082741 m,
      bearing: 123.852541 deg,
      approach rate: -0.739834 m/s,
      LOS rate: 0.082940 deg/s,
      cmd heading: 123.193322 deg,
      new cmd heading: 123.308002 deg.

2025-01-08T17:41:22.360Z,1736358082.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.152131 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:22.546Z,1736358082.546 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:22.546Z,1736358082.546 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:22.546Z,1736358082.546 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:22.744Z,1736358082.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.4 s old, using for 20.0 s.
2025-01-08T17:41:22.744Z,1736358082.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:22.769Z,1736358082.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:22.777Z,1736358082.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 89.796036 m,
      bearing: 123.884789 deg,
      approach rate: -0.692676 m/s,
      LOS rate: 0.078160 deg/s,
      cmd heading: 123.308001 deg,
      new cmd heading: 123.405054 deg.

2025-01-08T17:41:22.778Z,1736358082.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.153825 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:22.799Z,1736358082.799 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:22.799Z,1736358082.799 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:22.800Z,1736358082.800 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:23.051Z,1736358083.051 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:23.051Z,1736358083.051 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:23.051Z,1736358083.051 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:23.160Z,1736358083.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:23.168Z,1736358083.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:23.171Z,1736358083.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 89.505119 m,
      bearing: 123.910337 deg,
      approach rate: -0.728488 m/s,
      LOS rate: 0.064181 deg/s,
      cmd heading: 123.405058 deg,
      new cmd heading: 123.481948 deg.

2025-01-08T17:41:23.172Z,1736358083.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.155167 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:23.301Z,1736358083.301 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:23.301Z,1736358083.301 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:23.301Z,1736358083.301 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:23.552Z,1736358083.552 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:23.552Z,1736358083.552 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:23.552Z,1736358083.552 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:23.571Z,1736358083.571 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:23.579Z,1736358083.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:23.582Z,1736358083.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 89.217453 m,
      bearing: 123.935763 deg,
      approach rate: -0.700695 m/s,
      LOS rate: 0.062134 deg/s,
      cmd heading: 123.481952 deg,
      new cmd heading: 123.558478 deg.

2025-01-08T17:41:23.583Z,1736358083.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.156502 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:23.806Z,1736358083.806 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:23.807Z,1736358083.807 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:23.807Z,1736358083.807 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:23.974Z,1736358083.974 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:23.981Z,1736358083.981 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:23.983Z,1736358083.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:23.986Z,1736358083.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 88.942665 m,
      bearing: 123.953645 deg,
      approach rate: -0.679529 m/s,
      LOS rate: 0.044356 deg/s,
      cmd heading: 123.558477 deg,
      new cmd heading: 123.612287 deg.

2025-01-08T17:41:23.987Z,1736358083.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.157441 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:24.056Z,1736358084.056 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:24.056Z,1736358084.056 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:24.056Z,1736358084.056 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:24.309Z,1736358084.309 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:24.309Z,1736358084.309 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:24.309Z,1736358084.309 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:24.371Z,1736358084.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:24.380Z,1736358084.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:24.383Z,1736358084.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 88.672035 m,
      bearing: 123.971198 deg,
      approach rate: -0.682019 m/s,
      LOS rate: 0.044372 deg/s,
      cmd heading: 123.612285 deg,
      new cmd heading: 123.665107 deg.

2025-01-08T17:41:24.384Z,1736358084.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.158363 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:24.560Z,1736358084.560 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:24.560Z,1736358084.560 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:24.560Z,1736358084.560 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:24.750Z,1736358084.750 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:24.760Z,1736358084.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:24.763Z,1736358084.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 88.413757 m,
      bearing: 123.987740 deg,
      approach rate: -0.682581 m/s,
      LOS rate: 0.043844 deg/s,
      cmd heading: 123.665110 deg,
      new cmd heading: 123.714880 deg.

2025-01-08T17:41:24.780Z,1736358084.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.159232 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:24.812Z,1736358084.812 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:24.812Z,1736358084.812 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:24.812Z,1736358084.812 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:25.064Z,1736358085.064 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:25.064Z,1736358085.064 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:25.064Z,1736358085.064 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:25.179Z,1736358085.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:25.194Z,1736358085.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:25.197Z,1736358085.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 88.140778 m,
      bearing: 124.001983 deg,
      approach rate: -0.626148 m/s,
      LOS rate: 0.032770 deg/s,
      cmd heading: 123.714875 deg,
      new cmd heading: 123.757735 deg.

2025-01-08T17:41:25.198Z,1736358085.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.159980 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:25.316Z,1736358085.316 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:25.316Z,1736358085.316 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:25.317Z,1736358085.317 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:25.568Z,1736358085.568 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:25.568Z,1736358085.568 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:25.568Z,1736358085.568 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:25.576Z,1736358085.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:25.604Z,1736358085.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:25.611Z,1736358085.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 87.887703 m,
      bearing: 124.015069 deg,
      approach rate: -0.617084 m/s,
      LOS rate: 0.032002 deg/s,
      cmd heading: 123.757741 deg,
      new cmd heading: 123.797114 deg.

2025-01-08T17:41:25.612Z,1736358085.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.160667 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:25.822Z,1736358085.822 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:25.823Z,1736358085.823 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:25.823Z,1736358085.823 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:25.987Z,1736358085.987 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:25.995Z,1736358085.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:25.997Z,1736358085.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:26.016Z,1736358086.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 87.644836 m,
      bearing: 124.022237 deg,
      approach rate: -0.618574 m/s,
      LOS rate: 0.018308 deg/s,
      cmd heading: 123.797110 deg,
      new cmd heading: 123.818675 deg.

2025-01-08T17:41:26.017Z,1736358086.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.161044 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:26.073Z,1736358086.073 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:26.073Z,1736358086.073 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:26.073Z,1736358086.073 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:26.324Z,1736358086.324 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:26.324Z,1736358086.324 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:26.324Z,1736358086.324 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:26.394Z,1736358086.394 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:26.430Z,1736358086.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:26.438Z,1736358086.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 87.404549 m,
      bearing: 124.029268 deg,
      approach rate: -0.554549 m/s,
      LOS rate: 0.016270 deg/s,
      cmd heading: 123.818680 deg,
      new cmd heading: 123.839830 deg.

2025-01-08T17:41:26.439Z,1736358086.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.161413 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:26.578Z,1736358086.578 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:26.578Z,1736358086.578 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:26.579Z,1736358086.579 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:26.823Z,1736358086.823 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:26.828Z,1736358086.828 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:26.828Z,1736358086.828 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:26.828Z,1736358086.828 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:26.838Z,1736358086.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:26.841Z,1736358086.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 87.150810 m,
      bearing: 124.036734 deg,
      approach rate: -0.622425 m/s,
      LOS rate: 0.018368 deg/s,
      cmd heading: 123.839826 deg,
      new cmd heading: 123.862290 deg.

2025-01-08T17:41:26.843Z,1736358086.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.161805 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:27.081Z,1736358087.081 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:27.081Z,1736358087.081 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:27.081Z,1736358087.081 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:27.326Z,1736358087.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:27.332Z,1736358087.332 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:27.332Z,1736358087.332 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:27.332Z,1736358087.332 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:27.336Z,1736358087.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:27.339Z,1736358087.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 86.866234 m,
      bearing: 124.041923 deg,
      approach rate: -0.571077 m/s,
      LOS rate: 0.010447 deg/s,
      cmd heading: 123.862284 deg,
      new cmd heading: 123.877902 deg.

2025-01-08T17:41:27.341Z,1736358087.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.162077 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:27.588Z,1736358087.588 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:27.588Z,1736358087.588 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:27.588Z,1736358087.588 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:27.715Z,1736358087.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:27.723Z,1736358087.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:27.727Z,1736358087.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 86.645340 m,
      bearing: 124.046088 deg,
      approach rate: -0.571432 m/s,
      LOS rate: 0.010801 deg/s,
      cmd heading: 123.877898 deg,
      new cmd heading: 123.890424 deg.

2025-01-08T17:41:27.728Z,1736358087.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.162296 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:27.837Z,1736358087.837 [DAT](INFO): Reached modem response timeout
2025-01-08T17:41:27.838Z,1736358087.838 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:41:27.838Z,1736358087.838 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:41:28.089Z,1736358088.089 [DAT](INFO): Reached modem response timeout
2025-01-08T17:41:28.089Z,1736358088.089 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:41:28.089Z,1736358088.089 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:41:28.188Z,1736358088.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:28.196Z,1736358088.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:28.198Z,1736358088.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:28.201Z,1736358088.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 86.392036 m,
      bearing: 124.050741 deg,
      approach rate: -0.533676 m/s,
      LOS rate: 0.009832 deg/s,
      cmd heading: 123.890424 deg,
      new cmd heading: 123.904425 deg.

2025-01-08T17:41:28.202Z,1736358088.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.162540 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:28.342Z,1736358088.342 [DAT](INFO): Reached modem response timeout
2025-01-08T17:41:28.343Z,1736358088.343 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:41:28.344Z,1736358088.344 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:41:28.554Z,1736358088.554 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:28.563Z,1736358088.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:28.585Z,1736358088.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 86.195160 m,
      bearing: 124.054636 deg,
      approach rate: -0.539317 m/s,
      LOS rate: 0.010695 deg/s,
      cmd heading: 123.904426 deg,
      new cmd heading: 123.916138 deg.

2025-01-08T17:41:28.586Z,1736358088.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.162745 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:28.593Z,1736358088.593 [DAT](INFO): Reached modem response timeout
2025-01-08T17:41:28.594Z,1736358088.594 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:41:28.595Z,1736358088.595 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:41:28.845Z,1736358088.845 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:41:28.845Z,1736358088.845 [DAT](INFO): response not received
2025-01-08T17:41:28.845Z,1736358088.845 [DAT](INFO): DAT read: user:319>

2025-01-08T17:41:28.846Z,1736358088.846 [DAT](INFO): DAT read: Tx time:17:41:28.0431

2025-01-08T17:41:28.846Z,1736358088.846 [DAT](INFO): Ping request sent.
2025-01-08T17:41:28.847Z,1736358088.847 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:41:28.847Z,1736358088.847 [DAT](INFO): publishing transmit ping time
2025-01-08T17:41:28.848Z,1736358088.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001094
2025-01-08T17:41:29.044Z,1736358089.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:29.053Z,1736358089.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:29.056Z,1736358089.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 85.940002 m,
      bearing: 124.061656 deg,
      approach rate: -0.520204 m/s,
      LOS rate: 0.014354 deg/s,
      cmd heading: 123.916133 deg,
      new cmd heading: 123.937255 deg.

2025-01-08T17:41:29.057Z,1736358089.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.163113 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:29.097Z,1736358089.097 [DAT](INFO): DAT read: TxSync time:17:41:28.0423

2025-01-08T17:41:29.097Z,1736358089.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250672
2025-01-08T17:41:29.348Z,1736358089.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501753
2025-01-08T17:41:29.372Z,1736358089.372 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:29.410Z,1736358089.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:29.417Z,1736358089.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 85.769135 m,
      bearing: 124.066386 deg,
      approach rate: -0.479154 m/s,
      LOS rate: 0.013290 deg/s,
      cmd heading: 123.937252 deg,
      new cmd heading: 123.951470 deg.

2025-01-08T17:41:29.418Z,1736358089.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.163361 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:29.600Z,1736358089.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753584
2025-01-08T17:41:29.768Z,1736358089.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:29.803Z,1736358089.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:29.812Z,1736358089.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 85.562897 m,
      bearing: 124.071959 deg,
      approach rate: -0.552555 m/s,
      LOS rate: 0.014969 deg/s,
      cmd heading: 123.951473 deg,
      new cmd heading: 123.968234 deg.

2025-01-08T17:41:29.813Z,1736358089.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.163654 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:29.852Z,1736358089.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005704
2025-01-08T17:41:30.104Z,1736358090.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257659
2025-01-08T17:41:30.216Z,1736358090.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:30.222Z,1736358090.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:30.225Z,1736358090.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:30.228Z,1736358090.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 85.326302 m,
      bearing: 124.083829 deg,
      approach rate: -0.535796 m/s,
      LOS rate: 0.026955 deg/s,
      cmd heading: 123.968234 deg,
      new cmd heading: 124.003941 deg.

2025-01-08T17:41:30.229Z,1736358090.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.164277 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:30.356Z,1736358090.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509714
2025-01-08T17:41:30.578Z,1736358090.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:30.586Z,1736358090.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:30.589Z,1736358090.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 85.135208 m,
      bearing: 124.093981 deg,
      approach rate: -0.528706 m/s,
      LOS rate: 0.028150 deg/s,
      cmd heading: 124.003942 deg,
      new cmd heading: 124.034465 deg.

2025-01-08T17:41:30.590Z,1736358090.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.164810 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:30.608Z,1736358090.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761715
2025-01-08T17:41:30.860Z,1736358090.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013757
2025-01-08T17:41:31.030Z,1736358091.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:31.038Z,1736358091.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:31.041Z,1736358091.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 84.886978 m,
      bearing: 124.113298 deg,
      approach rate: -0.548894 m/s,
      LOS rate: 0.042841 deg/s,
      cmd heading: 124.034459 deg,
      new cmd heading: 124.092582 deg.

2025-01-08T17:41:31.043Z,1736358091.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.165824 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:31.114Z,1736358091.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267108
2025-01-08T17:41:31.364Z,1736358091.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517702
2025-01-08T17:41:31.385Z,1736358091.385 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:31.419Z,1736358091.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:31.422Z,1736358091.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 84.691597 m,
      bearing: 124.128951 deg,
      approach rate: -0.518657 m/s,
      LOS rate: 0.041648 deg/s,
      cmd heading: 124.092584 deg,
      new cmd heading: 124.139652 deg.

2025-01-08T17:41:31.423Z,1736358091.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.166646 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:31.616Z,1736358091.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769600
2025-01-08T17:41:31.821Z,1736358091.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:31.854Z,1736358091.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:31.865Z,1736358091.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 84.452492 m,
      bearing: 124.148409 deg,
      approach rate: -0.545118 m/s,
      LOS rate: 0.044487 deg/s,
      cmd heading: 124.139658 deg,
      new cmd heading: 124.198198 deg.

2025-01-08T17:41:31.866Z,1736358091.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.167667 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:31.868Z,1736358091.868 [DAT](INFO): DAT read: Rx Time:17:41:30.6085

2025-01-08T17:41:31.869Z,1736358091.869 [DAT](INFO): Rx dataTimestamp_ set to:1736358091.868529
2025-01-08T17:41:31.869Z,1736358091.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022728
2025-01-08T17:41:32.120Z,1736358092.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273819
2025-01-08T17:41:32.266Z,1736358092.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:32.334Z,1736358092.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:32.340Z,1736358092.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:32.348Z,1736358092.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 84.192329 m,
      bearing: 124.173169 deg,
      approach rate: -0.534662 m/s,
      LOS rate: 0.051040 deg/s,
      cmd heading: 124.198193 deg,
      new cmd heading: 124.272700 deg.

2025-01-08T17:41:32.349Z,1736358092.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.168968 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:32.380Z,1736358092.380 [DAT](INFO): DAT read: 17:41:30.6085 LVL= 32752, 32449, 29730, 32755, AGC= 66, IDX= 352,-0.49,-0.920,-2.256,-0.782,-1.123, PHS= 0.291,-1.087, 0.338, RAW= 151.7,   6.6, CAL= 152.7,  -2.4, ROT= 357.3,   2.4

2025-01-08T17:41:32.381Z,1736358092.381 [DAT](INFO): got valid direction response:
 17:41:30.6085 LVL= 32752, 32449, 29730, 32755, AGC= 66, IDX= 352,-0.49,-0.920,-2.256,-0.782,-1.123, PHS= 0.291,-1.087, 0.338, RAW= 151.7,   6.6, CAL= 152.7,  -2.4, ROT= 357.3,   2.4

2025-01-08T17:41:32.381Z,1736358092.381 [DAT](INFO): DAT read: $Error in header

2025-01-08T17:41:32.382Z,1736358092.382 [DAT](INFO): Received a bad header
2025-01-08T17:41:32.396Z,1736358092.396 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-08T17:41:32.397Z,1736358092.397 [DAT](INFO): direction in FSK: [0.998014,-0.047065,-0.041876]
2025-01-08T17:41:32.400Z,1736358092.400 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:32.400Z,1736358092.400 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:32.400Z,1736358092.400 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:32.628Z,1736358092.628 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:32.628Z,1736358092.628 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:32.628Z,1736358092.628 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:32.696Z,1736358092.696 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:32.722Z,1736358092.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:32.733Z,1736358092.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 83.941422 m,
      bearing: 124.197194 deg,
      approach rate: -0.656880 m/s,
      LOS rate: 0.063087 deg/s,
      cmd heading: 124.272696 deg,
      new cmd heading: 124.344988 deg.

2025-01-08T17:41:32.734Z,1736358092.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.170229 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:32.880Z,1736358092.880 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:32.880Z,1736358092.880 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:32.880Z,1736358092.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:33.090Z,1736358093.090 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:33.100Z,1736358093.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:33.102Z,1736358093.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 83.693886 m,
      bearing: 124.224692 deg,
      approach rate: -0.656559 m/s,
      LOS rate: 0.073151 deg/s,
      cmd heading: 124.344987 deg,
      new cmd heading: 124.427725 deg.

2025-01-08T17:41:33.103Z,1736358093.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.171674 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:33.132Z,1736358093.132 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:33.132Z,1736358093.132 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:33.132Z,1736358093.132 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:33.384Z,1736358093.384 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:33.384Z,1736358093.384 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:33.384Z,1736358093.384 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:33.479Z,1736358093.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:33.501Z,1736358093.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:33.508Z,1736358093.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 83.453117 m,
      bearing: 124.251353 deg,
      approach rate: -0.599795 m/s,
      LOS rate: 0.066609 deg/s,
      cmd heading: 124.427728 deg,
      new cmd heading: 124.507943 deg.

2025-01-08T17:41:33.509Z,1736358093.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.173074 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:33.636Z,1736358093.636 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:33.636Z,1736358093.636 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:33.636Z,1736358093.636 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:33.861Z,1736358093.861 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:33.874Z,1736358093.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:33.878Z,1736358093.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 83.210815 m,
      bearing: 124.278073 deg,
      approach rate: -0.649076 m/s,
      LOS rate: 0.071784 deg/s,
      cmd heading: 124.507942 deg,
      new cmd heading: 124.588333 deg.

2025-01-08T17:41:33.879Z,1736358093.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.174477 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:33.888Z,1736358093.888 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:33.888Z,1736358093.888 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:33.888Z,1736358093.888 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:34.140Z,1736358094.140 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:34.141Z,1736358094.141 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:34.141Z,1736358094.141 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:34.156Z,1736358094.156 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:41:34.312Z,1736358094.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:34.336Z,1736358094.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:34.343Z,1736358094.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 82.906799 m,
      bearing: 124.310427 deg,
      approach rate: -0.657372 m/s,
      LOS rate: 0.070217 deg/s,
      cmd heading: 124.588333 deg,
      new cmd heading: 124.685753 deg.

2025-01-08T17:41:34.345Z,1736358094.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.176177 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:34.394Z,1736358094.394 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:34.394Z,1736358094.394 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:34.394Z,1736358094.394 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:34.644Z,1736358094.644 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:34.644Z,1736358094.644 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:34.644Z,1736358094.644 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:34.713Z,1736358094.713 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:34.730Z,1736358094.730 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:34.741Z,1736358094.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:34.745Z,1736358094.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 82.634804 m,
      bearing: 124.338407 deg,
      approach rate: -0.672067 m/s,
      LOS rate: 0.069363 deg/s,
      cmd heading: 124.685759 deg,
      new cmd heading: 124.769975 deg.

2025-01-08T17:41:34.756Z,1736358094.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.177647 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:34.896Z,1736358094.896 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:34.896Z,1736358094.896 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:34.896Z,1736358094.896 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:35.102Z,1736358095.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:35.112Z,1736358095.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:35.115Z,1736358095.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 82.362648 m,
      bearing: 124.367913 deg,
      approach rate: -0.733500 m/s,
      LOS rate: 0.079784 deg/s,
      cmd heading: 124.769975 deg,
      new cmd heading: 124.858783 deg.

2025-01-08T17:41:35.116Z,1736358095.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.179197 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:35.148Z,1736358095.148 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:35.148Z,1736358095.148 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:35.148Z,1736358095.148 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:35.160Z,1736358095.160 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:41:35.400Z,1736358095.400 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:35.400Z,1736358095.400 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:35.400Z,1736358095.400 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:35.487Z,1736358095.487 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:35.496Z,1736358095.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:35.499Z,1736358095.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 82.092957 m,
      bearing: 124.396763 deg,
      approach rate: -0.702141 m/s,
      LOS rate: 0.075359 deg/s,
      cmd heading: 124.858781 deg,
      new cmd heading: 124.945617 deg.

2025-01-08T17:41:35.500Z,1736358095.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.180712 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:35.653Z,1736358095.653 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:35.654Z,1736358095.654 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:35.654Z,1736358095.654 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:35.878Z,1736358095.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:35.887Z,1736358095.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:35.890Z,1736358095.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 81.818214 m,
      bearing: 124.425559 deg,
      approach rate: -0.703313 m/s,
      LOS rate: 0.073961 deg/s,
      cmd heading: 124.945620 deg,
      new cmd heading: 125.032297 deg.

2025-01-08T17:41:35.891Z,1736358095.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.182225 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:35.912Z,1736358095.912 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:35.912Z,1736358095.912 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:35.912Z,1736358095.912 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:36.156Z,1736358096.156 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:36.156Z,1736358096.156 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:36.156Z,1736358096.156 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:36.307Z,1736358096.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:36.318Z,1736358096.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:36.321Z,1736358096.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 81.506882 m,
      bearing: 124.455395 deg,
      approach rate: -0.722100 m/s,
      LOS rate: 0.069467 deg/s,
      cmd heading: 125.032295 deg,
      new cmd heading: 125.122148 deg.

2025-01-08T17:41:36.322Z,1736358096.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.183794 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:36.409Z,1736358096.409 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:36.409Z,1736358096.409 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:36.410Z,1736358096.410 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:36.660Z,1736358096.660 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:36.660Z,1736358096.660 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:36.661Z,1736358096.661 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:36.722Z,1736358096.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:36.736Z,1736358096.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:36.739Z,1736358096.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:36.743Z,1736358096.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 81.205170 m,
      bearing: 124.482918 deg,
      approach rate: -0.717056 m/s,
      LOS rate: 0.065655 deg/s,
      cmd heading: 125.122153 deg,
      new cmd heading: 125.205029 deg.

2025-01-08T17:41:36.745Z,1736358096.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.185240 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:36.912Z,1736358096.912 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:36.912Z,1736358096.912 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:36.912Z,1736358096.912 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:37.146Z,1736358097.146 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:37.154Z,1736358097.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:37.157Z,1736358097.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 80.893929 m,
      bearing: 124.511070 deg,
      approach rate: -0.749634 m/s,
      LOS rate: 0.068064 deg/s,
      cmd heading: 125.205031 deg,
      new cmd heading: 125.289810 deg.

2025-01-08T17:41:37.159Z,1736358097.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.186720 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:37.164Z,1736358097.164 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:37.164Z,1736358097.164 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:37.164Z,1736358097.164 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:37.416Z,1736358097.416 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:37.416Z,1736358097.416 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:37.416Z,1736358097.416 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:37.522Z,1736358097.522 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:37.532Z,1736358097.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:37.536Z,1736358097.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 80.616631 m,
      bearing: 124.534761 deg,
      approach rate: -0.732544 m/s,
      LOS rate: 0.062800 deg/s,
      cmd heading: 125.289807 deg,
      new cmd heading: 125.361125 deg.

2025-01-08T17:41:37.537Z,1736358097.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.187964 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:37.669Z,1736358097.669 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:37.669Z,1736358097.669 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:37.669Z,1736358097.669 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:37.901Z,1736358097.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:37.911Z,1736358097.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:37.914Z,1736358097.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 80.337875 m,
      bearing: 124.558085 deg,
      approach rate: -0.736896 m/s,
      LOS rate: 0.061872 deg/s,
      cmd heading: 125.361128 deg,
      new cmd heading: 125.431344 deg.

2025-01-08T17:41:37.915Z,1736358097.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.189190 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:37.920Z,1736358097.920 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:37.920Z,1736358097.920 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:37.920Z,1736358097.920 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:38.172Z,1736358098.172 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:38.172Z,1736358098.172 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:38.172Z,1736358098.172 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:38.329Z,1736358098.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:38.339Z,1736358098.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:38.343Z,1736358098.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 80.027512 m,
      bearing: 124.585334 deg,
      approach rate: -0.724472 m/s,
      LOS rate: 0.063853 deg/s,
      cmd heading: 125.431342 deg,
      new cmd heading: 125.513407 deg.

2025-01-08T17:41:38.344Z,1736358098.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.190622 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:38.424Z,1736358098.424 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:38.425Z,1736358098.425 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:38.425Z,1736358098.425 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:38.677Z,1736358098.677 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:38.677Z,1736358098.677 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:38.677Z,1736358098.677 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:38.730Z,1736358098.730 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:38.745Z,1736358098.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:38.751Z,1736358098.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:38.754Z,1736358098.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 79.737144 m,
      bearing: 124.610609 deg,
      approach rate: -0.711761 m/s,
      LOS rate: 0.062180 deg/s,
      cmd heading: 125.513400 deg,
      new cmd heading: 125.589500 deg.

2025-01-08T17:41:38.755Z,1736358098.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.191950 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:38.928Z,1736358098.928 [DAT](INFO): Reached modem response timeout
2025-01-08T17:41:38.928Z,1736358098.928 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:41:38.928Z,1736358098.928 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:41:39.147Z,1736358099.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:39.156Z,1736358099.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:39.160Z,1736358099.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 79.448914 m,
      bearing: 124.632383 deg,
      approach rate: -0.704857 m/s,
      LOS rate: 0.053442 deg/s,
      cmd heading: 125.589502 deg,
      new cmd heading: 125.655063 deg.

2025-01-08T17:41:39.161Z,1736358099.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.193094 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:39.180Z,1736358099.180 [DAT](INFO): Reached modem response timeout
2025-01-08T17:41:39.180Z,1736358099.180 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:41:39.181Z,1736358099.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:41:39.432Z,1736358099.432 [DAT](INFO): Reached modem response timeout
2025-01-08T17:41:39.432Z,1736358099.432 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:41:39.432Z,1736358099.432 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:41:39.540Z,1736358099.540 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:39.567Z,1736358099.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:39.570Z,1736358099.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 79.176720 m,
      bearing: 124.653092 deg,
      approach rate: -0.663047 m/s,
      LOS rate: 0.050619 deg/s,
      cmd heading: 125.655058 deg,
      new cmd heading: 125.717399 deg.

2025-01-08T17:41:39.576Z,1736358099.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.194183 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:39.690Z,1736358099.690 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:41:39.691Z,1736358099.691 [DAT](INFO): response not received
2025-01-08T17:41:39.692Z,1736358099.692 [DAT](INFO): DAT read: user:321>

2025-01-08T17:41:39.694Z,1736358099.694 [DAT](INFO): DAT read: Tx time:17:41:38.9932

2025-01-08T17:41:39.694Z,1736358099.694 [DAT](INFO): Ping request sent.
2025-01-08T17:41:39.694Z,1736358099.694 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:41:39.694Z,1736358099.694 [DAT](INFO): publishing transmit ping time
2025-01-08T17:41:39.696Z,1736358099.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001409
2025-01-08T17:41:39.937Z,1736358099.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:39.942Z,1736358099.942 [DAT](INFO): DAT read: TxSync time:17:41:38.9924

2025-01-08T17:41:39.944Z,1736358099.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249395
2025-01-08T17:41:39.986Z,1736358099.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:39.997Z,1736358099.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 78.902496 m,
      bearing: 124.673506 deg,
      approach rate: -0.653199 m/s,
      LOS rate: 0.048796 deg/s,
      cmd heading: 125.717404 deg,
      new cmd heading: 125.778861 deg.

2025-01-08T17:41:39.998Z,1736358099.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.195255 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:40.193Z,1736358100.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498669
2025-01-08T17:41:40.368Z,1736358100.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:40.378Z,1736358100.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:40.397Z,1736358100.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 78.616798 m,
      bearing: 124.695915 deg,
      approach rate: -0.729482 m/s,
      LOS rate: 0.057424 deg/s,
      cmd heading: 125.778862 deg,
      new cmd heading: 125.846332 deg.

2025-01-08T17:41:40.398Z,1736358100.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.196433 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:40.445Z,1736358100.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750929
2025-01-08T17:41:40.697Z,1736358100.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002550
2025-01-08T17:41:40.738Z,1736358100.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:40.747Z,1736358100.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:40.749Z,1736358100.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 78.371262 m,
      bearing: 124.714881 deg,
      approach rate: -0.666144 m/s,
      LOS rate: 0.051618 deg/s,
      cmd heading: 125.846331 deg,
      new cmd heading: 125.903409 deg.

2025-01-08T17:41:40.750Z,1736358100.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.197429 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:40.948Z,1736358100.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254006
2025-01-08T17:41:41.186Z,1736358101.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:41.194Z,1736358101.194 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:41.196Z,1736358101.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:41.199Z,1736358101.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 78.091293 m,
      bearing: 124.737204 deg,
      approach rate: -0.622592 m/s,
      LOS rate: 0.049819 deg/s,
      cmd heading: 125.903404 deg,
      new cmd heading: 125.970612 deg.

2025-01-08T17:41:41.201Z,1736358101.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506336
2025-01-08T17:41:41.202Z,1736358101.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.198602 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:41.452Z,1736358101.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758066
2025-01-08T17:41:41.549Z,1736358101.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:41.576Z,1736358101.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:41.578Z,1736358101.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 77.864830 m,
      bearing: 124.755209 deg,
      approach rate: -0.598905 m/s,
      LOS rate: 0.047755 deg/s,
      cmd heading: 125.970613 deg,
      new cmd heading: 126.024786 deg.

2025-01-08T17:41:41.580Z,1736358101.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.199548 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:41.704Z,1736358101.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010107
2025-01-08T17:41:41.952Z,1736358101.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:41.956Z,1736358101.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262126
2025-01-08T17:41:41.965Z,1736358101.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:41.968Z,1736358101.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 77.612511 m,
      bearing: 124.775471 deg,
      approach rate: -0.649374 m/s,
      LOS rate: 0.052316 deg/s,
      cmd heading: 126.024790 deg,
      new cmd heading: 126.085773 deg.

2025-01-08T17:41:41.969Z,1736358101.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.200612 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:42.210Z,1736358102.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516249
2025-01-08T17:41:42.388Z,1736358102.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:42.397Z,1736358102.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:42.400Z,1736358102.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 77.352600 m,
      bearing: 124.794325 deg,
      approach rate: -0.598664 m/s,
      LOS rate: 0.043573 deg/s,
      cmd heading: 126.085770 deg,
      new cmd heading: 126.142522 deg.

2025-01-08T17:41:42.401Z,1736358102.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201602 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:42.461Z,1736358102.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766576
2025-01-08T17:41:42.712Z,1736358102.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018113
2025-01-08T17:41:42.755Z,1736358102.755 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:42.780Z,1736358102.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:42.783Z,1736358102.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 77.132889 m,
      bearing: 124.810467 deg,
      approach rate: -0.573776 m/s,
      LOS rate: 0.042275 deg/s,
      cmd heading: 126.142515 deg,
      new cmd heading: 126.191080 deg.

2025-01-08T17:41:42.788Z,1736358102.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.202450 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:42.966Z,1736358102.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271650
2025-01-08T17:41:43.206Z,1736358103.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:43.215Z,1736358103.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:43.216Z,1736358103.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522102
2025-01-08T17:41:43.218Z,1736358103.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:43.221Z,1736358103.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 76.875580 m,
      bearing: 124.831008 deg,
      approach rate: -0.587118 m/s,
      LOS rate: 0.047026 deg/s,
      cmd heading: 126.191078 deg,
      new cmd heading: 126.252907 deg.

2025-01-08T17:41:43.222Z,1736358103.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.203529 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:43.469Z,1736358103.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774446
2025-01-08T17:41:43.573Z,1736358103.573 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:43.583Z,1736358103.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:43.586Z,1736358103.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 76.666351 m,
      bearing: 124.847919 deg,
      approach rate: -0.573900 m/s,
      LOS rate: 0.046511 deg/s,
      cmd heading: 126.252905 deg,
      new cmd heading: 126.303775 deg.

2025-01-08T17:41:43.587Z,1736358103.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.204417 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:43.720Z,1736358103.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026039
2025-01-08T17:41:43.972Z,1736358103.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.278130
2025-01-08T17:41:43.994Z,1736358103.994 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:44.002Z,1736358104.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:44.005Z,1736358104.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 76.426956 m,
      bearing: 124.867520 deg,
      approach rate: -0.571380 m/s,
      LOS rate: 0.046931 deg/s,
      cmd heading: 126.303776 deg,
      new cmd heading: 126.362765 deg.

2025-01-08T17:41:44.006Z,1736358104.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.205446 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:44.224Z,1736358104.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.530023
2025-01-08T17:41:44.477Z,1736358104.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782720
2025-01-08T17:41:44.494Z,1736358104.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:44.537Z,1736358104.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:44.544Z,1736358104.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 76.148224 m,
      bearing: 124.891393 deg,
      approach rate: -0.520600 m/s,
      LOS rate: 0.044752 deg/s,
      cmd heading: 126.362762 deg,
      new cmd heading: 126.434642 deg.

2025-01-08T17:41:44.545Z,1736358104.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.206701 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:44.729Z,1736358104.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034578
2025-01-08T17:41:44.976Z,1736358104.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:44.982Z,1736358104.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287813
2025-01-08T17:41:44.995Z,1736358104.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:45.001Z,1736358105.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 75.885185 m,
      bearing: 124.914631 deg,
      approach rate: -0.575253 m/s,
      LOS rate: 0.050997 deg/s,
      cmd heading: 126.434643 deg,
      new cmd heading: 126.504599 deg.

2025-01-08T17:41:45.002Z,1736358105.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.207922 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:45.233Z,1736358105.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.538809
2025-01-08T17:41:45.432Z,1736358105.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:45.438Z,1736358105.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:45.461Z,1736358105.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:45.468Z,1736358105.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 75.626793 m,
      bearing: 124.934429 deg,
      approach rate: -0.554276 m/s,
      LOS rate: 0.042614 deg/s,
      cmd heading: 126.504597 deg,
      new cmd heading: 126.564194 deg.

2025-01-08T17:41:45.469Z,1736358105.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.208962 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:45.484Z,1736358105.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.790131
2025-01-08T17:41:45.736Z,1736358105.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.042014
2025-01-08T17:41:45.827Z,1736358105.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:45.836Z,1736358105.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:45.839Z,1736358105.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 75.407074 m,
      bearing: 124.951451 deg,
      approach rate: -0.586471 m/s,
      LOS rate: 0.045566 deg/s,
      cmd heading: 126.564198 deg,
      new cmd heading: 126.615411 deg.

2025-01-08T17:41:45.840Z,1736358105.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.209856 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:45.990Z,1736358105.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295899
2025-01-08T17:41:46.237Z,1736358106.237 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:46.240Z,1736358106.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546116
2025-01-08T17:41:46.248Z,1736358106.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:46.250Z,1736358106.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 75.177910 m,
      bearing: 124.971534 deg,
      approach rate: -0.555633 m/s,
      LOS rate: 0.048843 deg/s,
      cmd heading: 126.615410 deg,
      new cmd heading: 126.675845 deg.

2025-01-08T17:41:46.272Z,1736358106.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.210911 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:46.493Z,1736358106.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.798573
2025-01-08T17:41:46.621Z,1736358106.621 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:46.630Z,1736358106.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:46.633Z,1736358106.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 74.962814 m,
      bearing: 124.990523 deg,
      approach rate: -0.562072 m/s,
      LOS rate: 0.049761 deg/s,
      cmd heading: 126.675844 deg,
      new cmd heading: 126.732972 deg.

2025-01-08T17:41:46.634Z,1736358106.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.211908 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:46.745Z,1736358106.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.050431
2025-01-08T17:41:46.996Z,1736358106.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.301937
2025-01-08T17:41:47.036Z,1736358107.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:47.045Z,1736358107.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:47.048Z,1736358107.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 74.730927 m,
      bearing: 125.010978 deg,
      approach rate: -0.559667 m/s,
      LOS rate: 0.049521 deg/s,
      cmd heading: 126.732972 deg,
      new cmd heading: 126.794526 deg.

2025-01-08T17:41:47.049Z,1736358107.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.212982 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:47.248Z,1736358107.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.554081
2025-01-08T17:41:47.457Z,1736358107.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:47.466Z,1736358107.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:47.468Z,1736358107.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:47.471Z,1736358107.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 74.489098 m,
      bearing: 125.031307 deg,
      approach rate: -0.571247 m/s,
      LOS rate: 0.048179 deg/s,
      cmd heading: 126.794525 deg,
      new cmd heading: 126.855712 deg.

2025-01-08T17:41:47.472Z,1736358107.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.214050 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:47.500Z,1736358107.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.806226
2025-01-08T17:41:47.752Z,1736358107.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.058008
2025-01-08T17:41:47.845Z,1736358107.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:47.862Z,1736358107.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:47.865Z,1736358107.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 74.266312 m,
      bearing: 125.049997 deg,
      approach rate: -0.565025 m/s,
      LOS rate: 0.047542 deg/s,
      cmd heading: 126.855710 deg,
      new cmd heading: 126.911947 deg.

2025-01-08T17:41:47.866Z,1736358107.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.215031 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:48.004Z,1736358108.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.309977
2025-01-08T17:41:48.256Z,1736358108.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.562130
2025-01-08T17:41:48.290Z,1736358108.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:48.299Z,1736358108.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:48.302Z,1736358108.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 73.998260 m,
      bearing: 125.069784 deg,
      approach rate: -0.613908 m/s,
      LOS rate: 0.045482 deg/s,
      cmd heading: 126.911950 deg,
      new cmd heading: 126.971526 deg.

2025-01-08T17:41:48.304Z,1736358108.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.216071 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:48.510Z,1736358108.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.815133
2025-01-08T17:41:48.723Z,1736358108.723 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:48.733Z,1736358108.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:48.736Z,1736358108.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 73.737938 m,
      bearing: 125.088664 deg,
      approach rate: -0.600284 m/s,
      LOS rate: 0.043690 deg/s,
      cmd heading: 126.971523 deg,
      new cmd heading: 127.028363 deg.

2025-01-08T17:41:48.737Z,1736358108.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.217063 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:48.761Z,1736358108.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.066420
2025-01-08T17:41:49.013Z,1736358109.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.318175
2025-01-08T17:41:49.122Z,1736358109.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:49.144Z,1736358109.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:49.146Z,1736358109.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 73.497299 m,
      bearing: 125.105870 deg,
      approach rate: -0.603468 m/s,
      LOS rate: 0.043291 deg/s,
      cmd heading: 127.028364 deg,
      new cmd heading: 127.080151 deg.

2025-01-08T17:41:49.152Z,1736358109.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.217967 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:49.266Z,1736358109.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.572201
2025-01-08T17:41:49.521Z,1736358109.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826425
2025-01-08T17:41:49.598Z,1736358109.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:49.605Z,1736358109.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:49.607Z,1736358109.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:49.611Z,1736358109.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 73.197540 m,
      bearing: 125.123609 deg,
      approach rate: -0.630416 m/s,
      LOS rate: 0.037458 deg/s,
      cmd heading: 127.080150 deg,
      new cmd heading: 127.133583 deg.

2025-01-08T17:41:49.612Z,1736358109.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.218900 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:49.772Z,1736358109.772 [DAT](INFO): Reached modem response timeout
2025-01-08T17:41:49.772Z,1736358109.772 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:41:49.772Z,1736358109.772 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:41:49.970Z,1736358109.970 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:49.978Z,1736358109.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:49.981Z,1736358109.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 72.962852 m,
      bearing: 125.137132 deg,
      approach rate: -0.631764 m/s,
      LOS rate: 0.036522 deg/s,
      cmd heading: 127.133590 deg,
      new cmd heading: 127.174291 deg.

2025-01-08T17:41:49.982Z,1736358109.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.219610 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:50.024Z,1736358110.024 [DAT](INFO): Reached modem response timeout
2025-01-08T17:41:50.024Z,1736358110.024 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:41:50.024Z,1736358110.024 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:41:50.276Z,1736358110.276 [DAT](INFO): Reached modem response timeout
2025-01-08T17:41:50.276Z,1736358110.276 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:41:50.277Z,1736358110.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:41:50.388Z,1736358110.388 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:50.398Z,1736358110.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:50.401Z,1736358110.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 72.680084 m,
      bearing: 125.153227 deg,
      approach rate: -0.673410 m/s,
      LOS rate: 0.038478 deg/s,
      cmd heading: 127.174297 deg,
      new cmd heading: 127.222769 deg.

2025-01-08T17:41:50.402Z,1736358110.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.220456 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:50.531Z,1736358110.531 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:41:50.531Z,1736358110.531 [DAT](INFO): response not received
2025-01-08T17:41:50.532Z,1736358110.532 [DAT](INFO): DAT read: user:322>

2025-01-08T17:41:50.533Z,1736358110.533 [DAT](ERROR): No response from remote modem.
2025-01-08T17:41:50.533Z,1736358110.533 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:41:50.533Z,1736358110.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:41:50.773Z,1736358110.773 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:50.782Z,1736358110.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:50.784Z,1736358110.784 [DAT](INFO): DAT read: Tx time:17:41:49.9433

2025-01-08T17:41:50.785Z,1736358110.785 [DAT](INFO): Ping request sent.
2025-01-08T17:41:50.785Z,1736358110.785 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:41:50.786Z,1736358110.786 [DAT](INFO): DAT read: TxSync time:17:41:49.9425

2025-01-08T17:41:50.786Z,1736358110.786 [DAT](INFO): publishing transmit ping time
2025-01-08T17:41:50.787Z,1736358110.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001583
2025-01-08T17:41:50.789Z,1736358110.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 72.419029 m,
      bearing: 125.167759 deg,
      approach rate: -0.680806 m/s,
      LOS rate: 0.038034 deg/s,
      cmd heading: 127.222764 deg,
      new cmd heading: 127.266516 deg.

2025-01-08T17:41:50.790Z,1736358110.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.221220 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:51.038Z,1736358111.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253039
2025-01-08T17:41:51.186Z,1736358111.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:51.198Z,1736358111.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:51.203Z,1736358111.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 72.138779 m,
      bearing: 125.183089 deg,
      approach rate: -0.672707 m/s,
      LOS rate: 0.036942 deg/s,
      cmd heading: 127.266519 deg,
      new cmd heading: 127.312688 deg.

2025-01-08T17:41:51.204Z,1736358111.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.222026 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:51.291Z,1736358111.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506058
2025-01-08T17:41:51.540Z,1736358111.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755294
2025-01-08T17:41:51.618Z,1736358111.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:51.627Z,1736358111.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:51.634Z,1736358111.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:51.637Z,1736358111.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 71.833344 m,
      bearing: 125.198176 deg,
      approach rate: -0.701247 m/s,
      LOS rate: 0.034785 deg/s,
      cmd heading: 127.312691 deg,
      new cmd heading: 127.358143 deg.

2025-01-08T17:41:51.638Z,1736358111.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.222819 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:51.793Z,1736358111.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007791
2025-01-08T17:41:52.003Z,1736358112.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:52.013Z,1736358112.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:52.036Z,1736358112.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 71.562225 m,
      bearing: 125.211675 deg,
      approach rate: -0.715480 m/s,
      LOS rate: 0.035760 deg/s,
      cmd heading: 127.358139 deg,
      new cmd heading: 127.398791 deg.

2025-01-08T17:41:52.037Z,1736358112.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.223528 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:52.044Z,1736358112.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259494
2025-01-08T17:41:52.296Z,1736358112.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511380
2025-01-08T17:41:52.410Z,1736358112.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:52.453Z,1736358112.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:52.460Z,1736358112.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 71.263947 m,
      bearing: 125.227486 deg,
      approach rate: -0.677286 m/s,
      LOS rate: 0.036052 deg/s,
      cmd heading: 127.398792 deg,
      new cmd heading: 127.446424 deg.

2025-01-08T17:41:52.461Z,1736358112.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.224360 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:52.549Z,1736358112.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764307
2025-01-08T17:41:52.787Z,1736358112.787 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:52.800Z,1736358112.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015501
2025-01-08T17:41:52.828Z,1736358112.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:52.835Z,1736358112.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 70.988342 m,
      bearing: 125.242164 deg,
      approach rate: -0.734692 m/s,
      LOS rate: 0.039278 deg/s,
      cmd heading: 127.446426 deg,
      new cmd heading: 127.490629 deg.

2025-01-08T17:41:52.836Z,1736358112.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.225131 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:53.052Z,1736358113.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267333
2025-01-08T17:41:53.191Z,1736358113.191 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:53.200Z,1736358113.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:53.203Z,1736358113.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 70.692230 m,
      bearing: 125.257826 deg,
      approach rate: -0.797067 m/s,
      LOS rate: 0.042336 deg/s,
      cmd heading: 127.490631 deg,
      new cmd heading: 127.537814 deg.

2025-01-08T17:41:53.204Z,1736358113.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.225955 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:53.309Z,1736358113.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524438
2025-01-08T17:41:53.560Z,1736358113.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775309
2025-01-08T17:41:53.632Z,1736358113.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:53.639Z,1736358113.639 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:53.642Z,1736358113.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:53.645Z,1736358113.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 70.364815 m,
      bearing: 125.284177 deg,
      approach rate: -0.742198 m/s,
      LOS rate: 0.060012 deg/s,
      cmd heading: 127.537814 deg,
      new cmd heading: 127.617236 deg.

2025-01-08T17:41:53.646Z,1736358113.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.227341 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:53.813Z,1736358113.813 [DAT](INFO): DAT read: Rx Time:17:41:52.4398

2025-01-08T17:41:53.813Z,1736358113.813 [DAT](INFO): Rx dataTimestamp_ set to:1736358113.812691
2025-01-08T17:41:53.814Z,1736358113.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028590
2025-01-08T17:41:54.023Z,1736358114.023 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:54.053Z,1736358114.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:54.056Z,1736358114.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 70.074348 m,
      bearing: 125.306670 deg,
      approach rate: -0.705354 m/s,
      LOS rate: 0.054846 deg/s,
      cmd heading: 127.617235 deg,
      new cmd heading: 127.684993 deg.

2025-01-08T17:41:54.057Z,1736358114.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.228523 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:54.067Z,1736358114.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281224
2025-01-08T17:41:54.323Z,1736358114.323 [DAT](INFO): DAT read: 17:41:52.4398 LVL= 32752, 32753, 26914, 32755, AGC= 67, IDX= 222,-0.37,-0.290,-1.641, 0.054,-0.385, PHS= 0.183,-1.209, 0.436, RAW= 158.2,   7.7, CAL= 158.1,  -1.8, ROT= 351.9,   1.8

2025-01-08T17:41:54.324Z,1736358114.324 [DAT](INFO): got valid direction response:
 17:41:52.4398 LVL= 32752, 32753, 26914, 32755, AGC= 67, IDX= 222,-0.37,-0.290,-1.641, 0.054,-0.385, PHS= 0.183,-1.209, 0.436, RAW= 158.2,   7.7, CAL= 158.1,  -1.8, ROT= 351.9,   1.8

2025-01-08T17:41:54.325Z,1736358114.325 [DAT](INFO): DAT read: $Error in header

2025-01-08T17:41:54.326Z,1736358114.326 [DAT](INFO): Received a bad header
2025-01-08T17:41:54.340Z,1736358114.340 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-08T17:41:54.341Z,1736358114.341 [DAT](INFO): direction in FSK: [0.989535,-0.140832,-0.031411]
2025-01-08T17:41:54.351Z,1736358114.351 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:54.351Z,1736358114.351 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:54.351Z,1736358114.351 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:54.488Z,1736358114.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:54.497Z,1736358114.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:54.500Z,1736358114.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 69.716911 m,
      bearing: 125.333704 deg,
      approach rate: -0.804195 m/s,
      LOS rate: 0.061135 deg/s,
      cmd heading: 127.684991 deg,
      new cmd heading: 127.766508 deg.

2025-01-08T17:41:54.501Z,1736358114.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.229946 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:54.568Z,1736358114.568 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:54.568Z,1736358114.568 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:54.569Z,1736358114.569 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:54.816Z,1736358114.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:54.820Z,1736358114.820 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:54.820Z,1736358114.820 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:54.820Z,1736358114.820 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:54.828Z,1736358114.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:54.830Z,1736358114.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 69.464485 m,
      bearing: 125.352520 deg,
      approach rate: -0.765707 m/s,
      LOS rate: 0.057283 deg/s,
      cmd heading: 127.766502 deg,
      new cmd heading: 127.823155 deg.

2025-01-08T17:41:54.831Z,1736358114.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.230935 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:55.073Z,1736358115.073 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:55.073Z,1736358115.073 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:55.073Z,1736358115.073 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:55.218Z,1736358115.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:55.228Z,1736358115.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:55.230Z,1736358115.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 69.155853 m,
      bearing: 125.375318 deg,
      approach rate: -0.770640 m/s,
      LOS rate: 0.057180 deg/s,
      cmd heading: 127.823152 deg,
      new cmd heading: 127.891852 deg.

2025-01-08T17:41:55.232Z,1736358115.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.232134 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:55.329Z,1736358115.329 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:55.329Z,1736358115.329 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:55.330Z,1736358115.330 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:55.580Z,1736358115.580 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:55.580Z,1736358115.580 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:55.580Z,1736358115.580 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:55.651Z,1736358115.651 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:55.658Z,1736358115.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:55.661Z,1736358115.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:55.682Z,1736358115.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 68.828751 m,
      bearing: 125.407458 deg,
      approach rate: -0.754712 m/s,
      LOS rate: 0.074509 deg/s,
      cmd heading: 127.891850 deg,
      new cmd heading: 127.988729 deg.

2025-01-08T17:41:55.697Z,1736358115.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.233825 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:55.828Z,1736358115.828 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:55.828Z,1736358115.828 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:55.828Z,1736358115.828 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:56.028Z,1736358116.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:56.036Z,1736358116.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:56.039Z,1736358116.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 68.543495 m,
      bearing: 125.435160 deg,
      approach rate: -0.760486 m/s,
      LOS rate: 0.074159 deg/s,
      cmd heading: 127.988729 deg,
      new cmd heading: 128.072179 deg.

2025-01-08T17:41:56.040Z,1736358116.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.235281 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:56.082Z,1736358116.082 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:56.083Z,1736358116.083 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:56.083Z,1736358116.083 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:56.335Z,1736358116.335 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:56.335Z,1736358116.335 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:56.335Z,1736358116.335 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:56.443Z,1736358116.443 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:56.468Z,1736358116.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:56.471Z,1736358116.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 68.239548 m,
      bearing: 125.473679 deg,
      approach rate: -0.731758 m/s,
      LOS rate: 0.093147 deg/s,
      cmd heading: 128.072180 deg,
      new cmd heading: 128.188251 deg.

2025-01-08T17:41:56.477Z,1736358116.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.237307 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:56.585Z,1736358116.585 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:56.585Z,1736358116.585 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:56.585Z,1736358116.585 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:56.836Z,1736358116.836 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:56.836Z,1736358116.836 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:56.836Z,1736358116.836 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:56.844Z,1736358116.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:56.855Z,1736358116.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:56.861Z,1736358116.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 67.945724 m,
      bearing: 125.510901 deg,
      approach rate: -0.729943 m/s,
      LOS rate: 0.092870 deg/s,
      cmd heading: 128.188253 deg,
      new cmd heading: 128.300401 deg.

2025-01-08T17:41:56.864Z,1736358116.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.239264 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:57.091Z,1736358117.091 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:57.091Z,1736358117.091 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:57.092Z,1736358117.092 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:57.235Z,1736358117.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:57.264Z,1736358117.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:57.266Z,1736358117.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 67.659012 m,
      bearing: 125.547307 deg,
      approach rate: -0.700706 m/s,
      LOS rate: 0.089353 deg/s,
      cmd heading: 128.300404 deg,
      new cmd heading: 128.410088 deg.

2025-01-08T17:41:57.267Z,1736358117.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.241179 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:57.342Z,1736358117.342 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:57.343Z,1736358117.343 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:57.343Z,1736358117.343 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:57.592Z,1736358117.592 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:57.592Z,1736358117.592 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:57.592Z,1736358117.592 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:57.664Z,1736358117.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:57.675Z,1736358117.675 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:57.679Z,1736358117.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:57.683Z,1736358117.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 67.361061 m,
      bearing: 125.577576 deg,
      approach rate: -0.717798 m/s,
      LOS rate: 0.073243 deg/s,
      cmd heading: 128.410084 deg,
      new cmd heading: 128.501290 deg.

2025-01-08T17:41:57.685Z,1736358117.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.242771 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:57.844Z,1736358117.844 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:57.844Z,1736358117.844 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:57.844Z,1736358117.844 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:58.047Z,1736358118.047 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:58.077Z,1736358118.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:58.092Z,1736358118.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 67.093552 m,
      bearing: 125.604913 deg,
      approach rate: -0.672212 m/s,
      LOS rate: 0.068968 deg/s,
      cmd heading: 128.501294 deg,
      new cmd heading: 128.583632 deg.

2025-01-08T17:41:58.094Z,1736358118.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.244208 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:58.097Z,1736358118.097 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:58.097Z,1736358118.097 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:58.097Z,1736358118.097 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:58.352Z,1736358118.352 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:58.352Z,1736358118.352 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:58.353Z,1736358118.353 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:58.478Z,1736358118.478 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:58.504Z,1736358118.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:58.507Z,1736358118.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 66.814102 m,
      bearing: 125.628435 deg,
      approach rate: -0.652770 m/s,
      LOS rate: 0.055176 deg/s,
      cmd heading: 128.583639 deg,
      new cmd heading: 128.654501 deg.

2025-01-08T17:41:58.509Z,1736358118.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.245445 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:58.601Z,1736358118.601 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:58.601Z,1736358118.601 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:58.602Z,1736358118.602 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:58.852Z,1736358118.852 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:58.852Z,1736358118.852 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:58.852Z,1736358118.852 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:58.864Z,1736358118.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:58.885Z,1736358118.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:58.892Z,1736358118.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 66.574127 m,
      bearing: 125.648484 deg,
      approach rate: -0.631000 m/s,
      LOS rate: 0.052909 deg/s,
      cmd heading: 128.654495 deg,
      new cmd heading: 128.714860 deg.

2025-01-08T17:41:58.893Z,1736358118.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.246498 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:59.104Z,1736358119.104 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:59.104Z,1736358119.104 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:59.104Z,1736358119.104 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:59.251Z,1736358119.251 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:59.261Z,1736358119.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:59.264Z,1736358119.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 66.311974 m,
      bearing: 125.670259 deg,
      approach rate: -0.696732 m/s,
      LOS rate: 0.058100 deg/s,
      cmd heading: 128.714860 deg,
      new cmd heading: 128.780442 deg.

2025-01-08T17:41:59.265Z,1736358119.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.247643 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:59.358Z,1736358119.358 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:59.359Z,1736358119.359 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:59.359Z,1736358119.359 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:59.609Z,1736358119.609 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:59.609Z,1736358119.609 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:59.609Z,1736358119.609 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:41:59.702Z,1736358119.702 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:41:59.710Z,1736358119.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:41:59.712Z,1736358119.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:41:59.715Z,1736358119.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 66.040924 m,
      bearing: 125.686997 deg,
      approach rate: -0.600630 m/s,
      LOS rate: 0.037244 deg/s,
      cmd heading: 128.780444 deg,
      new cmd heading: 128.830865 deg.

2025-01-08T17:41:59.716Z,1736358119.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.248523 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:41:59.860Z,1736358119.860 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:41:59.860Z,1736358119.860 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:41:59.860Z,1736358119.860 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:00.067Z,1736358120.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:00.075Z,1736358120.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:42:00.078Z,1736358120.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 65.821831 m,
      bearing: 125.700537 deg,
      approach rate: -0.603659 m/s,
      LOS rate: 0.037430 deg/s,
      cmd heading: 128.830864 deg,
      new cmd heading: 128.871619 deg.

2025-01-08T17:42:00.079Z,1736358120.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.249234 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:42:00.113Z,1736358120.113 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:00.114Z,1736358120.114 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:00.114Z,1736358120.114 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:00.367Z,1736358120.367 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:00.368Z,1736358120.368 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:00.368Z,1736358120.368 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:00.506Z,1736358120.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:00.519Z,1736358120.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:42:00.522Z,1736358120.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 65.576157 m,
      bearing: 125.707236 deg,
      approach rate: -0.553522 m/s,
      LOS rate: 0.015150 deg/s,
      cmd heading: 128.871613 deg,
      new cmd heading: 128.891785 deg.

2025-01-08T17:42:00.524Z,1736358120.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.249586 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:42:00.618Z,1736358120.618 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:00.618Z,1736358120.618 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:00.618Z,1736358120.618 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:00.868Z,1736358120.868 [DAT](INFO): Reached modem response timeout
2025-01-08T17:42:00.868Z,1736358120.868 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:42:00.868Z,1736358120.868 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:42:00.872Z,1736358120.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:00.882Z,1736358120.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:42:00.901Z,1736358120.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 65.371223 m,
      bearing: 125.713072 deg,
      approach rate: -0.564619 m/s,
      LOS rate: 0.016130 deg/s,
      cmd heading: 128.891789 deg,
      new cmd heading: 128.909353 deg.

2025-01-08T17:42:00.902Z,1736358120.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.249893 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:42:01.120Z,1736358121.120 [DAT](INFO): Reached modem response timeout
2025-01-08T17:42:01.120Z,1736358121.120 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:42:01.121Z,1736358121.121 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:42:01.278Z,1736358121.278 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:01.286Z,1736358121.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:42:01.289Z,1736358121.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 65.144379 m,
      bearing: 125.719765 deg,
      approach rate: -0.560639 m/s,
      LOS rate: 0.016599 deg/s,
      cmd heading: 128.909357 deg,
      new cmd heading: 128.929505 deg.

2025-01-08T17:42:01.290Z,1736358121.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.250244 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:42:01.377Z,1736358121.377 [DAT](INFO): Reached modem response timeout
2025-01-08T17:42:01.379Z,1736358121.379 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:42:01.380Z,1736358121.380 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:42:01.632Z,1736358121.632 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:42:01.632Z,1736358121.632 [DAT](INFO): response not received
2025-01-08T17:42:01.632Z,1736358121.632 [DAT](INFO): DAT read: user:324>

2025-01-08T17:42:01.633Z,1736358121.633 [DAT](INFO): DAT read: Tx time:17:42:00.8934

2025-01-08T17:42:01.633Z,1736358121.633 [DAT](INFO): Ping request sent.
2025-01-08T17:42:01.633Z,1736358121.633 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:42:01.634Z,1736358121.634 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:01.634Z,1736358121.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-01-08T17:42:01.812Z,1736358121.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:01.834Z,1736358121.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:01.845Z,1736358121.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:42:01.848Z,1736358121.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 64.857567 m,
      bearing: 125.715923 deg,
      approach rate: -0.513650 m/s,
      LOS rate: -0.006911 deg/s,
      cmd heading: 128.929506 deg,
      new cmd heading: 128.917928 deg.

2025-01-08T17:42:01.849Z,1736358121.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.250042 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:42:01.881Z,1736358121.881 [DAT](INFO): DAT read: TxSync time:17:42:00.8926

2025-01-08T17:42:01.881Z,1736358121.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247852
2025-01-08T17:42:02.132Z,1736358122.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498725
2025-01-08T17:42:02.312Z,1736358122.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:02.335Z,1736358122.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:42:02.338Z,1736358122.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 64.589340 m,
      bearing: 125.712299 deg,
      approach rate: -0.547187 m/s,
      LOS rate: -0.007424 deg/s,
      cmd heading: 128.917922 deg,
      new cmd heading: 128.907004 deg.

2025-01-08T17:42:02.339Z,1736358122.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.249852 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:42:02.389Z,1736358122.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754889
2025-01-08T17:42:02.639Z,1736358122.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005721
2025-01-08T17:42:02.744Z,1736358122.744 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:02.752Z,1736358122.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:42:02.755Z,1736358122.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 64.358223 m,
      bearing: 125.707457 deg,
      approach rate: -0.553651 m/s,
      LOS rate: -0.011642 deg/s,
      cmd heading: 128.907007 deg,
      new cmd heading: 128.892428 deg.

2025-01-08T17:42:02.756Z,1736358122.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.249597 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:42:02.888Z,1736358122.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254733
2025-01-08T17:42:03.122Z,1736358123.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:03.131Z,1736358123.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:42:03.133Z,1736358123.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 64.155823 m,
      bearing: 125.703298 deg,
      approach rate: -0.535152 m/s,
      LOS rate: -0.011031 deg/s,
      cmd heading: 128.892432 deg,
      new cmd heading: 128.879915 deg.

2025-01-08T17:42:03.134Z,1736358123.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.249379 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:42:03.140Z,1736358123.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506953
2025-01-08T17:42:03.395Z,1736358123.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761058
2025-01-08T17:42:03.549Z,1736358123.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:03.573Z,1736358123.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:42:03.585Z,1736358123.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 63.918655 m,
      bearing: 125.699515 deg,
      approach rate: -0.536054 m/s,
      LOS rate: -0.008581 deg/s,
      cmd heading: 128.879919 deg,
      new cmd heading: 128.868530 deg.

2025-01-08T17:42:03.586Z,1736358123.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.249180 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:42:03.645Z,1736358123.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011169
2025-01-08T17:42:03.896Z,1736358123.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262783
2025-01-08T17:42:03.935Z,1736358123.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:03.943Z,1736358123.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:03.945Z,1736358123.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:42:03.948Z,1736358123.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 63.703800 m,
      bearing: 125.696285 deg,
      approach rate: -0.577619 m/s,
      LOS rate: -0.008715 deg/s,
      cmd heading: 128.868526 deg,
      new cmd heading: 128.858801 deg.

2025-01-08T17:42:03.949Z,1736358123.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.249010 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:42:04.148Z,1736358124.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514733
2025-01-08T17:42:04.340Z,1736358124.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:04.349Z,1736358124.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:42:04.352Z,1736358124.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 63.478554 m,
      bearing: 125.693047 deg,
      approach rate: -0.557132 m/s,
      LOS rate: -0.008036 deg/s,
      cmd heading: 128.858800 deg,
      new cmd heading: 128.849053 deg.

2025-01-08T17:42:04.353Z,1736358124.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.248840 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:42:04.404Z,1736358124.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769887
2025-01-08T17:42:04.653Z,1736358124.653 [DAT](INFO): DAT read: Rx Time:17:42:03.3799

2025-01-08T17:42:04.656Z,1736358124.656 [DAT](INFO): Rx dataTimestamp_ set to:1736358124.654139
2025-01-08T17:42:04.658Z,1736358124.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023972
2025-01-08T17:42:04.782Z,1736358124.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:04.792Z,1736358124.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.20 m.
2025-01-08T17:42:04.795Z,1736358124.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.199997 m,
      nav range: 63.216541 m,
      bearing: 125.697296 deg,
      approach rate: -0.591485 m/s,
      LOS rate: 0.009631 deg/s,
      cmd heading: 128.849046 deg,
      new cmd heading: 128.861845 deg.

2025-01-08T17:42:04.796Z,1736358124.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.249063 target range: 109.199997 and range: 109.20 m.
2025-01-08T17:42:04.905Z,1736358124.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271926
2025-01-08T17:42:05.162Z,1736358125.162 [DAT](INFO): DAT read: 17:42:03.3799 LVL= 28480, 32753, 23026, 29027, AGC= 66, IDX= 344,-0.05,-0.287,-1.651, 0.064,-0.373, PHS= 0.173,-1.231, 0.434, RAW= 158.4,   8.1, CAL= 158.1,  -1.5, ROT= 351.9,   1.5

2025-01-08T17:42:05.163Z,1736358125.163 [DAT](INFO): got valid direction response:
 17:42:03.3799 LVL= 28480, 32753, 23026, 29027, AGC= 66, IDX= 344,-0.05,-0.287,-1.651, 0.064,-0.373, PHS= 0.173,-1.231, 0.434, RAW= 158.4,   8.1, CAL= 158.1,  -1.5, ROT= 351.9,   1.5

2025-01-08T17:42:05.164Z,1736358125.164 [DAT](INFO): DAT read: Bearing 351.9,   1.5 (Local)

2025-01-08T17:42:05.165Z,1736358125.165 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.9,   1.5 (Local)

2025-01-08T17:42:05.166Z,1736358125.166 [DAT](INFO): DAT read: Range 10 to 50 : 61.8 m  (Round-trip  82.4 ms) speed  0.6 m/s

2025-01-08T17:42:05.167Z,1736358125.167 [DAT](INFO): DAT read: user:325>

2025-01-08T17:42:05.168Z,1736358125.168 [DAT](INFO): DAT read: Tx time:17:42:04.4934

2025-01-08T17:42:05.168Z,1736358125.168 [DAT](INFO): Ping request sent.
2025-01-08T17:42:05.168Z,1736358125.168 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:42:05.168Z,1736358125.168 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:42:05.169Z,1736358125.169 [DAT](INFO): direction in FSK: [0.989684,-0.140853,-0.026177]
2025-01-08T17:42:05.170Z,1736358125.170 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:05.170Z,1736358125.170 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:05.177Z,1736358125.177 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:05.180Z,1736358125.180 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:05.192Z,1736358125.192 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:05.265Z,1736358125.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.799999 m,
      deltaT: 72.863595 s,
      deltaX: -47.399998 m,
      approachRate: -0.650531 m/s,
      rangeRepo size: 4

2025-01-08T17:42:05.276Z,1736358125.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.799999 m,
      bearing: 120.243945 deg,
      lat: 36.904127 deg,
      lon: -122.119041 deg,
      deltaT: 72.863595 s,
      deltaX: -47.399998 m,
      approachRate: -0.650531 m/s,
      posRepo size: 4

2025-01-08T17:42:05.277Z,1736358125.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m.
2025-01-08T17:42:05.280Z,1736358125.280 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:42:05.288Z,1736358125.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.799999 m,
      nav range: 64.437714 m,
      bearing: 124.776982 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009631 deg/s,
      cmd heading: 128.861846 deg,
      new cmd heading: 128.875093 deg.

2025-01-08T17:42:05.289Z,1736358125.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.249295 target range: 61.799999 and range: 61.80 m.
2025-01-08T17:42:05.409Z,1736358125.409 [DAT](INFO): DAT read: TxSync time:17:42:04.4926

2025-01-08T17:42:05.642Z,1736358125.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:05.687Z,1736358125.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m.
2025-01-08T17:42:05.699Z,1736358125.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.799999 m,
      nav range: 64.132401 m,
      bearing: 124.787597 deg,
      approach rate: -0.701244 m/s,
      LOS rate: 0.024497 deg/s,
      cmd heading: 128.875097 deg,
      new cmd heading: 128.907093 deg.

2025-01-08T17:42:05.702Z,1736358125.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.249853 target range: 61.799999 and range: 61.80 m.
2025-01-08T17:42:06.002Z,1736358126.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:06.017Z,1736358126.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:06.024Z,1736358126.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m.
2025-01-08T17:42:06.031Z,1736358126.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.799999 m,
      nav range: 63.896248 m,
      bearing: 124.794544 deg,
      approach rate: -0.708593 m/s,
      LOS rate: 0.020921 deg/s,
      cmd heading: 128.907089 deg,
      new cmd heading: 128.928006 deg.

2025-01-08T17:42:06.032Z,1736358126.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.250218 target range: 61.799999 and range: 61.80 m.
2025-01-08T17:42:06.164Z,1736358126.164 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:06.164Z,1736358126.164 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:06.164Z,1736358126.164 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:42:06.284Z,1736358126.284 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:42:06.393Z,1736358126.393 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:06.404Z,1736358126.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m.
2025-01-08T17:42:06.409Z,1736358126.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.799999 m,
      nav range: 63.640232 m,
      bearing: 124.801170 deg,
      approach rate: -0.669778 m/s,
      LOS rate: 0.017405 deg/s,
      cmd heading: 128.928003 deg,
      new cmd heading: 128.947962 deg.

2025-01-08T17:42:06.410Z,1736358126.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.250566 target range: 61.799999 and range: 61.80 m.
2025-01-08T17:42:06.416Z,1736358126.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248289
2025-01-08T17:42:06.669Z,1736358126.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500926
2025-01-08T17:42:06.840Z,1736358126.840 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:06.850Z,1736358126.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m.
2025-01-08T17:42:06.853Z,1736358126.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.799999 m,
      nav range: 63.321892 m,
      bearing: 124.819740 deg,
      approach rate: -0.709439 m/s,
      LOS rate: 0.041593 deg/s,
      cmd heading: 128.947961 deg,
      new cmd heading: 129.003952 deg.

2025-01-08T17:42:06.854Z,1736358126.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.251544 target range: 61.799999 and range: 61.80 m.
2025-01-08T17:42:06.922Z,1736358126.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753549
2025-01-08T17:42:07.172Z,1736358127.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004262
2025-01-08T17:42:07.202Z,1736358127.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:07.210Z,1736358127.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m.
2025-01-08T17:42:07.213Z,1736358127.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.799999 m,
      nav range: 63.064598 m,
      bearing: 124.834367 deg,
      approach rate: -0.715478 m/s,
      LOS rate: 0.040840 deg/s,
      cmd heading: 129.003955 deg,
      new cmd heading: 129.048014 deg.

2025-01-08T17:42:07.214Z,1736358127.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.252313 target range: 61.799999 and range: 61.80 m.
2025-01-08T17:42:07.426Z,1736358127.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257051
2025-01-08T17:42:07.637Z,1736358127.637 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:07.648Z,1736358127.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m.
2025-01-08T17:42:07.650Z,1736358127.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.799999 m,
      nav range: 62.731110 m,
      bearing: 124.865162 deg,
      approach rate: -0.762550 m/s,
      LOS rate: 0.070789 deg/s,
      cmd heading: 129.048010 deg,
      new cmd heading: 129.140885 deg.

2025-01-08T17:42:07.651Z,1736358127.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.253934 target range: 61.799999 and range: 61.80 m.
2025-01-08T17:42:07.677Z,1736358127.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509032
2025-01-08T17:42:07.928Z,1736358127.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760137
2025-01-08T17:42:08.003Z,1736358128.003 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:08.013Z,1736358128.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m.
2025-01-08T17:42:08.016Z,1736358128.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.799999 m,
      nav range: 62.450996 m,
      bearing: 124.890828 deg,
      approach rate: -0.766109 m/s,
      LOS rate: 0.070512 deg/s,
      cmd heading: 129.140886 deg,
      new cmd heading: 129.218231 deg.

2025-01-08T17:42:08.017Z,1736358128.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.255284 target range: 61.799999 and range: 61.80 m.
2025-01-08T17:42:08.182Z,1736358128.182 [DAT](INFO): DAT read: Rx Time:17:42:06.9767

2025-01-08T17:42:08.182Z,1736358128.182 [DAT](INFO): Rx dataTimestamp_ set to:1736358128.181999
2025-01-08T17:42:08.183Z,1736358128.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014725
2025-01-08T17:42:08.403Z,1736358128.403 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:08.411Z,1736358128.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:08.413Z,1736358128.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.80 m.
2025-01-08T17:42:08.416Z,1736358128.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.799999 m,
      nav range: 62.144196 m,
      bearing: 124.918507 deg,
      approach rate: -0.767152 m/s,
      LOS rate: 0.069552 deg/s,
      cmd heading: 129.218232 deg,
      new cmd heading: 129.301677 deg.

2025-01-08T17:42:08.417Z,1736358128.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.256740 target range: 61.799999 and range: 61.80 m.
2025-01-08T17:42:08.437Z,1736358128.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268724
2025-01-08T17:42:08.699Z,1736358128.699 [DAT](INFO): DAT read: 17:42:06.9767 LVL= 25232, 28785, 20834, 29379, AGC= 66, IDX= 406, 0.30, 2.650, 1.211, 3.048, 2.560, PHS= 0.177,-1.303, 0.484, RAW= 159.2,   7.8, CAL= 159.0,  -1.8, ROT= 351.0,   1.8

2025-01-08T17:42:08.701Z,1736358128.701 [DAT](INFO): got valid direction response:
 17:42:06.9767 LVL= 25232, 28785, 20834, 29379, AGC= 66, IDX= 406, 0.30, 2.650, 1.211, 3.048, 2.560, PHS= 0.177,-1.303, 0.484, RAW= 159.2,   7.8, CAL= 159.0,  -1.8, ROT= 351.0,   1.8

2025-01-08T17:42:08.702Z,1736358128.702 [DAT](INFO): DAT read: Bearing 351.0,   1.8 (Local)

2025-01-08T17:42:08.704Z,1736358128.704 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.0,   1.8 (Local)

2025-01-08T17:42:08.707Z,1736358128.707 [DAT](INFO): DAT read: Range 10 to 50 : 59.3 m  (Round-trip  79.1 ms) speed  0.8 m/s

2025-01-08T17:42:08.713Z,1736358128.713 [DAT](INFO): DAT read: user:326>

2025-01-08T17:42:08.714Z,1736358128.714 [DAT](INFO): DAT read: Tx time:17:42:08.0934

2025-01-08T17:42:08.715Z,1736358128.715 [DAT](INFO): Ping request sent.
2025-01-08T17:42:08.715Z,1736358128.715 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:42:08.715Z,1736358128.715 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:42:08.730Z,1736358128.730 [DAT](INFO): direction in FSK: [0.987201,-0.156357,-0.031411]
2025-01-08T17:42:08.731Z,1736358128.731 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:08.735Z,1736358128.735 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:08.738Z,1736358128.738 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:08.739Z,1736358128.739 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:08.890Z,1736358128.890 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:08.921Z,1736358128.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.299999 m,
      deltaT: 3.529916 s,
      deltaX: -2.500000 m,
      approachRate: -0.708232 m/s,
      rangeRepo size: 4

2025-01-08T17:42:08.928Z,1736358128.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.299999 m,
      bearing: 120.943564 deg,
      lat: 36.904127 deg,
      lon: -122.119043 deg,
      deltaT: 3.529916 s,
      deltaX: -2.500000 m,
      approachRate: -0.708232 m/s,
      posRepo size: 4

2025-01-08T17:42:08.928Z,1736358128.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:08.929Z,1736358128.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-08T17:42:08.937Z,1736358128.937 [DAT](INFO): DAT read: TxSync time:17:42:08.0926

2025-01-08T17:42:08.938Z,1736358128.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 61.651482 m,
      bearing: 125.018985 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.069552 deg/s,
      cmd heading: 129.301683 deg,
      new cmd heading: 129.407626 deg.

2025-01-08T17:42:08.943Z,1736358128.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.258589 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:08.969Z,1736358128.969 [DockingStepper](INFO): Changing to mode: 2
2025-01-08T17:42:08.969Z,1736358128.969 [DockingStepper](INFO): Armed mode.
2025-01-08T17:42:09.040Z,1736358129.040 [DockingStepper](INFO): Commanding negative:54488
2025-01-08T17:42:09.298Z,1736358129.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:09.306Z,1736358129.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:09.307Z,1736358129.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-08T17:42:09.329Z,1736358129.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 61.315693 m,
      bearing: 125.053484 deg,
      approach rate: -0.871312 m/s,
      LOS rate: 0.090010 deg/s,
      cmd heading: 129.407633 deg,
      new cmd heading: 129.511698 deg.

2025-01-08T17:42:09.330Z,1736358129.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.260406 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:09.715Z,1736358129.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:09.723Z,1736358129.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:09.724Z,1736358129.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-08T17:42:09.728Z,1736358129.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 60.973000 m,
      bearing: 125.095745 deg,
      approach rate: -0.821911 m/s,
      LOS rate: 0.101927 deg/s,
      cmd heading: 129.511697 deg,
      new cmd heading: 129.639192 deg.

2025-01-08T17:42:09.729Z,1736358129.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.262631 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:10.084Z,1736358130.084 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:10.109Z,1736358130.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:10.110Z,1736358130.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-08T17:42:10.117Z,1736358130.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 60.669487 m,
      bearing: 125.132409 deg,
      approach rate: -0.785647 m/s,
      LOS rate: 0.095379 deg/s,
      cmd heading: 129.639190 deg,
      new cmd heading: 129.749731 deg.

2025-01-08T17:42:10.118Z,1736358130.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.264560 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:10.551Z,1736358130.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:10.562Z,1736358130.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:10.569Z,1736358130.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:10.569Z,1736358130.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-08T17:42:10.583Z,1736358130.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 60.284672 m,
      bearing: 125.178373 deg,
      approach rate: -0.837956 m/s,
      LOS rate: 0.100727 deg/s,
      cmd heading: 129.749730 deg,
      new cmd heading: 129.888501 deg.

2025-01-08T17:42:10.584Z,1736358130.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.266982 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:10.706Z,1736358130.706 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:10.706Z,1736358130.706 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:10.707Z,1736358130.707 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:42:10.916Z,1736358130.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:10.926Z,1736358130.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:10.926Z,1736358130.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-08T17:42:10.929Z,1736358130.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 59.984688 m,
      bearing: 125.210851 deg,
      approach rate: -0.842957 m/s,
      LOS rate: 0.091721 deg/s,
      cmd heading: 129.888505 deg,
      new cmd heading: 129.986428 deg.

2025-01-08T17:42:10.930Z,1736358130.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.268691 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:10.956Z,1736358130.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241697
2025-01-08T17:42:11.209Z,1736358131.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494320
2025-01-08T17:42:11.317Z,1736358131.317 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:11.325Z,1736358131.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:11.326Z,1736358131.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-08T17:42:11.329Z,1736358131.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 59.654854 m,
      bearing: 125.246586 deg,
      approach rate: -0.823188 m/s,
      LOS rate: 0.089678 deg/s,
      cmd heading: 129.986423 deg,
      new cmd heading: 130.094219 deg.

2025-01-08T17:42:11.330Z,1736358131.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.270572 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:11.460Z,1736358131.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745560
2025-01-08T17:42:11.712Z,1736358131.712 [DAT](INFO): DAT read: Rx Time:17:42:10.5735

2025-01-08T17:42:11.713Z,1736358131.713 [DAT](INFO): Rx dataTimestamp_ set to:1736358131.712651
2025-01-08T17:42:11.713Z,1736358131.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998833
2025-01-08T17:42:11.732Z,1736358131.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:11.768Z,1736358131.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:11.768Z,1736358131.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-08T17:42:11.776Z,1736358131.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 59.325920 m,
      bearing: 125.280725 deg,
      approach rate: -0.742853 m/s,
      LOS rate: 0.077527 deg/s,
      cmd heading: 130.094217 deg,
      new cmd heading: 130.197203 deg.

2025-01-08T17:42:11.777Z,1736358131.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.272370 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:11.964Z,1736358131.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249569
2025-01-08T17:42:12.108Z,1736358132.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:12.137Z,1736358132.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:12.137Z,1736358132.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-08T17:42:12.140Z,1736358132.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 59.027401 m,
      bearing: 125.311628 deg,
      approach rate: -0.809684 m/s,
      LOS rate: 0.084245 deg/s,
      cmd heading: 130.197203 deg,
      new cmd heading: 130.290382 deg.

2025-01-08T17:42:12.142Z,1736358132.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.273996 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:12.216Z,1736358132.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501716
2025-01-08T17:42:12.475Z,1736358132.475 [DAT](INFO): DAT read: 17:42:10.5735 LVL= 18032, 28625, 16050, 29171, AGC= 63, IDX= 405, 0.15,-0.096,-1.353, 0.260,-0.249, PHS= 0.241,-1.057, 0.506, RAW= 159.1,   4.3, CAL= 160.0,  -4.8, ROT= 350.0,   4.8

2025-01-08T17:42:12.476Z,1736358132.476 [DAT](INFO): got valid direction response:
 17:42:10.5735 LVL= 18032, 28625, 16050, 29171, AGC= 63, IDX= 405, 0.15,-0.096,-1.353, 0.260,-0.249, PHS= 0.241,-1.057, 0.506, RAW= 159.1,   4.3, CAL= 160.0,  -4.8, ROT= 350.0,   4.8

2025-01-08T17:42:12.477Z,1736358132.477 [DAT](INFO): DAT read: $Error in header

2025-01-08T17:42:12.477Z,1736358132.477 [DAT](INFO): Received a bad header
2025-01-08T17:42:12.493Z,1736358132.493 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-01-08T17:42:12.498Z,1736358132.498 [DAT](INFO): direction in FSK: [0.981354,-0.173039,-0.083678]
2025-01-08T17:42:12.501Z,1736358132.501 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:12.502Z,1736358132.502 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:12.502Z,1736358132.502 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:12.679Z,1736358132.679 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:12.710Z,1736358132.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:12.716Z,1736358132.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:12.717Z,1736358132.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-08T17:42:12.720Z,1736358132.720 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:12.720Z,1736358132.720 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:12.720Z,1736358132.720 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:12.725Z,1736358132.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 58.598347 m,
      bearing: 125.350603 deg,
      approach rate: -0.740406 m/s,
      LOS rate: 0.067750 deg/s,
      cmd heading: 130.290380 deg,
      new cmd heading: 130.408160 deg.

2025-01-08T17:42:12.726Z,1736358132.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.276052 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:12.972Z,1736358132.972 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:12.972Z,1736358132.972 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:12.972Z,1736358132.972 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:13.028Z,1736358133.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:13.037Z,1736358133.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:13.037Z,1736358133.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-08T17:42:13.040Z,1736358133.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 58.335495 m,
      bearing: 125.374385 deg,
      approach rate: -0.819527 m/s,
      LOS rate: 0.074483 deg/s,
      cmd heading: 130.408160 deg,
      new cmd heading: 130.479828 deg.

2025-01-08T17:42:13.042Z,1736358133.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.277303 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:13.225Z,1736358133.225 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:13.225Z,1736358133.225 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:13.225Z,1736358133.225 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:13.412Z,1736358133.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:13.421Z,1736358133.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:13.421Z,1736358133.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-08T17:42:13.424Z,1736358133.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 58.046852 m,
      bearing: 125.400850 deg,
      approach rate: -0.751935 m/s,
      LOS rate: 0.069286 deg/s,
      cmd heading: 130.479822 deg,
      new cmd heading: 130.559612 deg.

2025-01-08T17:42:13.425Z,1736358133.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.278695 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:13.478Z,1736358133.478 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:13.478Z,1736358133.478 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:13.478Z,1736358133.478 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:13.728Z,1736358133.728 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:13.728Z,1736358133.728 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:13.728Z,1736358133.728 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:13.841Z,1736358133.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:13.870Z,1736358133.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:13.870Z,1736358133.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-08T17:42:13.877Z,1736358133.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 57.754982 m,
      bearing: 125.412427 deg,
      approach rate: -0.649776 m/s,
      LOS rate: 0.025903 deg/s,
      cmd heading: 130.559612 deg,
      new cmd heading: 130.594519 deg.

2025-01-08T17:42:13.878Z,1736358133.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279304 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:13.981Z,1736358133.981 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:13.981Z,1736358133.981 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:13.981Z,1736358133.981 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:14.225Z,1736358134.225 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:14.232Z,1736358134.232 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:14.232Z,1736358134.232 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:14.232Z,1736358134.232 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:14.235Z,1736358134.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:14.236Z,1736358134.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-08T17:42:14.238Z,1736358134.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 57.493256 m,
      bearing: 125.422962 deg,
      approach rate: -0.717273 m/s,
      LOS rate: 0.029002 deg/s,
      cmd heading: 130.594515 deg,
      new cmd heading: 130.626263 deg.

2025-01-08T17:42:14.240Z,1736358134.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279858 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:14.484Z,1736358134.484 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:14.484Z,1736358134.484 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:14.484Z,1736358134.484 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:14.709Z,1736358134.709 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:14.716Z,1736358134.716 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:14.718Z,1736358134.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:14.719Z,1736358134.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-08T17:42:14.722Z,1736358134.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 57.190601 m,
      bearing: 125.413408 deg,
      approach rate: -0.625929 m/s,
      LOS rate: -0.019863 deg/s,
      cmd heading: 130.626261 deg,
      new cmd heading: 130.597448 deg.

2025-01-08T17:42:14.725Z,1736358134.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279356 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:14.736Z,1736358134.736 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:14.736Z,1736358134.736 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:14.736Z,1736358134.736 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:14.989Z,1736358134.989 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:14.989Z,1736358134.989 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:14.989Z,1736358134.989 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:15.045Z,1736358135.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:15.058Z,1736358135.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:15.063Z,1736358135.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m.
2025-01-08T17:42:15.064Z,1736358135.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 59.30 m.
2025-01-08T17:42:15.064Z,1736358135.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-01-08T17:42:15.067Z,1736358135.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 56.981136 m,
      bearing: 125.407041 deg,
      approach rate: -0.617895 m/s,
      LOS rate: -0.018851 deg/s,
      cmd heading: 130.597452 deg,
      new cmd heading: 130.578280 deg.

2025-01-08T17:42:15.072Z,1736358135.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279021 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:15.240Z,1736358135.240 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:15.240Z,1736358135.240 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:15.241Z,1736358135.241 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:15.463Z,1736358135.463 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:15.493Z,1736358135.493 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:15.494Z,1736358135.494 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:15.494Z,1736358135.494 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:15.503Z,1736358135.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:15.506Z,1736358135.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 56.719864 m,
      bearing: 125.399438 deg,
      approach rate: -0.591379 m/s,
      LOS rate: -0.017289 deg/s,
      cmd heading: 130.578286 deg,
      new cmd heading: 130.555371 deg.

2025-01-08T17:42:15.511Z,1736358135.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.278621 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:15.745Z,1736358135.745 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:15.745Z,1736358135.745 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:15.745Z,1736358135.745 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:15.888Z,1736358135.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:15.938Z,1736358135.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:15.945Z,1736358135.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 56.478027 m,
      bearing: 125.379613 deg,
      approach rate: -0.551238 m/s,
      LOS rate: -0.045381 deg/s,
      cmd heading: 130.555378 deg,
      new cmd heading: 130.495650 deg.

2025-01-08T17:42:15.946Z,1736358135.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.277579 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:16.000Z,1736358136.000 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:16.000Z,1736358136.000 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:16.000Z,1736358136.000 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:16.252Z,1736358136.252 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:16.252Z,1736358136.252 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:16.252Z,1736358136.252 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:16.285Z,1736358136.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:16.315Z,1736358136.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:16.322Z,1736358136.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 56.251591 m,
      bearing: 125.361201 deg,
      approach rate: -0.600511 m/s,
      LOS rate: -0.049026 deg/s,
      cmd heading: 130.495655 deg,
      new cmd heading: 130.440195 deg.

2025-01-08T17:42:16.323Z,1736358136.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.276611 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:16.504Z,1736358136.504 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:16.504Z,1736358136.504 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:16.504Z,1736358136.504 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:16.736Z,1736358136.736 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:16.744Z,1736358136.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:16.746Z,1736358136.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:16.749Z,1736358136.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 56.015476 m,
      bearing: 125.327930 deg,
      approach rate: -0.547854 m/s,
      LOS rate: -0.077523 deg/s,
      cmd heading: 130.440193 deg,
      new cmd heading: 130.339961 deg.

2025-01-08T17:42:16.750Z,1736358136.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.274862 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:16.756Z,1736358136.756 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:16.756Z,1736358136.756 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:16.756Z,1736358136.756 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:17.009Z,1736358137.009 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:17.009Z,1736358137.009 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:17.009Z,1736358137.009 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:17.094Z,1736358137.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:17.105Z,1736358137.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:17.109Z,1736358137.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 55.832802 m,
      bearing: 125.302152 deg,
      approach rate: -0.511494 m/s,
      LOS rate: -0.072416 deg/s,
      cmd heading: 130.339967 deg,
      new cmd heading: 130.262380 deg.

2025-01-08T17:42:17.110Z,1736358137.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.273507 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:17.260Z,1736358137.260 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:17.260Z,1736358137.260 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:17.260Z,1736358137.260 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:17.514Z,1736358137.514 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:17.514Z,1736358137.514 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:17.514Z,1736358137.514 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:17.523Z,1736358137.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:17.563Z,1736358137.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:17.566Z,1736358137.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 55.602093 m,
      bearing: 125.269351 deg,
      approach rate: -0.501956 m/s,
      LOS rate: -0.071662 deg/s,
      cmd heading: 130.262376 deg,
      new cmd heading: 130.163564 deg.

2025-01-08T17:42:17.567Z,1736358137.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.271783 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:17.764Z,1736358137.764 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:17.764Z,1736358137.764 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:17.764Z,1736358137.764 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:17.922Z,1736358137.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:17.948Z,1736358137.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:17.954Z,1736358137.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 55.402077 m,
      bearing: 125.238635 deg,
      approach rate: -0.518472 m/s,
      LOS rate: -0.079907 deg/s,
      cmd heading: 130.163571 deg,
      new cmd heading: 130.071091 deg.

2025-01-08T17:42:17.955Z,1736358137.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.270169 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:18.017Z,1736358138.017 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:18.017Z,1736358138.017 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:18.017Z,1736358138.017 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:18.268Z,1736358138.268 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:18.268Z,1736358138.268 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:18.268Z,1736358138.268 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:18.337Z,1736358138.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:18.346Z,1736358138.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:18.352Z,1736358138.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 55.194199 m,
      bearing: 125.206600 deg,
      approach rate: -0.522334 m/s,
      LOS rate: -0.080799 deg/s,
      cmd heading: 130.071090 deg,
      new cmd heading: 129.974622 deg.

2025-01-08T17:42:18.353Z,1736358138.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.268485 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:18.522Z,1736358138.522 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:18.523Z,1736358138.523 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:18.523Z,1736358138.523 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-01-08T17:42:18.772Z,1736358138.772 [DAT](INFO): Reached modem response timeout
2025-01-08T17:42:18.772Z,1736358138.772 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:42:18.772Z,1736358138.772 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:42:18.780Z,1736358138.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:18.786Z,1736358138.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:18.789Z,1736358138.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:18.792Z,1736358138.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 54.970257 m,
      bearing: 125.176908 deg,
      approach rate: -0.506267 m/s,
      LOS rate: -0.067397 deg/s,
      cmd heading: 129.974620 deg,
      new cmd heading: 129.885183 deg.

2025-01-08T17:42:18.793Z,1736358138.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.266924 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:19.024Z,1736358139.024 [DAT](INFO): Reached modem response timeout
2025-01-08T17:42:19.025Z,1736358139.025 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:42:19.025Z,1736358139.025 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:42:19.152Z,1736358139.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:19.162Z,1736358139.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:19.165Z,1736358139.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 54.781994 m,
      bearing: 125.151901 deg,
      approach rate: -0.504782 m/s,
      LOS rate: -0.067281 deg/s,
      cmd heading: 129.885186 deg,
      new cmd heading: 129.809907 deg.

2025-01-08T17:42:19.166Z,1736358139.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.265610 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:19.276Z,1736358139.276 [DAT](INFO): Reached modem response timeout
2025-01-08T17:42:19.276Z,1736358139.276 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:42:19.277Z,1736358139.277 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:42:19.528Z,1736358139.528 [DAT](INFO): Reached modem response timeout
2025-01-08T17:42:19.528Z,1736358139.528 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:42:19.529Z,1736358139.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:42:19.620Z,1736358139.620 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:19.701Z,1736358139.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:19.709Z,1736358139.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 54.545391 m,
      bearing: 125.120023 deg,
      approach rate: -0.438798 m/s,
      LOS rate: -0.059376 deg/s,
      cmd heading: 129.809904 deg,
      new cmd heading: 129.713855 deg.

2025-01-08T17:42:19.710Z,1736358139.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.263934 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:19.780Z,1736358139.780 [DAT](INFO): DAT read: Response Not Received

2025-01-08T17:42:19.781Z,1736358139.781 [DAT](INFO): response not received
2025-01-08T17:42:19.781Z,1736358139.781 [DAT](INFO): DAT read: user:328>

2025-01-08T17:42:19.782Z,1736358139.782 [DAT](INFO): DAT read: Tx time:17:42:19.0435

2025-01-08T17:42:19.782Z,1736358139.782 [DAT](INFO): Ping request sent.
2025-01-08T17:42:19.782Z,1736358139.782 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:42:19.782Z,1736358139.782 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:19.784Z,1736358139.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-01-08T17:42:20.032Z,1736358140.032 [DAT](INFO): DAT read: TxSync time:17:42:19.0427

2025-01-08T17:42:20.033Z,1736358140.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250891
2025-01-08T17:42:20.132Z,1736358140.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:20.156Z,1736358140.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:20.165Z,1736358140.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 54.266933 m,
      bearing: 125.095803 deg,
      approach rate: -0.611353 m/s,
      LOS rate: -0.053447 deg/s,
      cmd heading: 129.713857 deg,
      new cmd heading: 129.640826 deg.

2025-01-08T17:42:20.166Z,1736358140.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.262659 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:20.285Z,1736358140.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502665
2025-01-08T17:42:20.515Z,1736358140.515 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:20.524Z,1736358140.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:20.526Z,1736358140.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 54.058964 m,
      bearing: 125.076943 deg,
      approach rate: -0.566565 m/s,
      LOS rate: -0.051580 deg/s,
      cmd heading: 129.640829 deg,
      new cmd heading: 129.584029 deg.

2025-01-08T17:42:20.528Z,1736358140.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.261668 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:20.547Z,1736358140.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.763937
2025-01-08T17:42:20.799Z,1736358140.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.016730
2025-01-08T17:42:20.952Z,1736358140.952 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:20.960Z,1736358140.960 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:20.962Z,1736358140.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:20.965Z,1736358140.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 53.804859 m,
      bearing: 125.073442 deg,
      approach rate: -0.579493 m/s,
      LOS rate: -0.008020 deg/s,
      cmd heading: 129.584029 deg,
      new cmd heading: 129.573479 deg.

2025-01-08T17:42:20.966Z,1736358140.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.261484 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:21.053Z,1736358141.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.270812
2025-01-08T17:42:21.304Z,1736358141.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522039
2025-01-08T17:42:21.321Z,1736358141.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:21.343Z,1736358141.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:21.355Z,1736358141.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 53.591125 m,
      bearing: 125.070658 deg,
      approach rate: -0.561062 m/s,
      LOS rate: -0.007338 deg/s,
      cmd heading: 129.573483 deg,
      new cmd heading: 129.565097 deg.

2025-01-08T17:42:21.356Z,1736358141.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.261338 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:21.557Z,1736358141.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774543
2025-01-08T17:42:21.781Z,1736358141.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:21.809Z,1736358141.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026545
2025-01-08T17:42:21.829Z,1736358141.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:21.836Z,1736358141.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 53.300903 m,
      bearing: 125.086966 deg,
      approach rate: -0.597325 m/s,
      LOS rate: 0.033747 deg/s,
      cmd heading: 129.565096 deg,
      new cmd heading: 129.614285 deg.

2025-01-08T17:42:21.837Z,1736358141.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.262196 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:22.060Z,1736358142.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277915
2025-01-08T17:42:22.138Z,1736358142.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:22.147Z,1736358142.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:22.150Z,1736358142.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 53.076019 m,
      bearing: 125.099559 deg,
      approach rate: -0.706971 m/s,
      LOS rate: 0.039757 deg/s,
      cmd heading: 129.614287 deg,
      new cmd heading: 129.652226 deg.

2025-01-08T17:42:22.151Z,1736358142.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.262858 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:22.312Z,1736358142.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530141
2025-01-08T17:42:22.536Z,1736358142.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:22.549Z,1736358142.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:22.552Z,1736358142.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 52.824589 m,
      bearing: 125.113743 deg,
      approach rate: -0.626849 m/s,
      LOS rate: 0.035531 deg/s,
      cmd heading: 129.652222 deg,
      new cmd heading: 129.694976 deg.

2025-01-08T17:42:22.553Z,1736358142.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.263604 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:22.564Z,1736358142.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782022
2025-01-08T17:42:22.817Z,1736358142.817 [DAT](INFO): DAT read: Rx Time:17:42:21.5136

2025-01-08T17:42:22.819Z,1736358142.819 [DAT](INFO): Rx dataTimestamp_ set to:1736358142.817789
2025-01-08T17:42:22.819Z,1736358142.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.037123
2025-01-08T17:42:22.964Z,1736358142.964 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:22.970Z,1736358142.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:22.973Z,1736358142.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.30 m.
2025-01-08T17:42:22.977Z,1736358142.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.299999 m,
      nav range: 52.528999 m,
      bearing: 125.141507 deg,
      approach rate: -0.695726 m/s,
      LOS rate: 0.065717 deg/s,
      cmd heading: 129.694979 deg,
      new cmd heading: 129.778741 deg.

2025-01-08T17:42:22.978Z,1736358142.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.265066 target range: 59.299999 and range: 59.30 m.
2025-01-08T17:42:23.069Z,1736358143.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286323
2025-01-08T17:42:23.329Z,1736358143.329 [DAT](INFO): DAT read: 17:42:21.5136 LVL= 30064, 28625, 18674, 28883, AGC= 65, IDX= 336,-0.02, 3.083, 1.793,-2.672, 3.010, PHS= 0.161,-1.170, 0.599, RAW= 163.8,   5.2, CAL= 164.0,  -4.1, ROT= 346.0,   4.1

2025-01-08T17:42:23.331Z,1736358143.331 [DAT](INFO): got valid direction response:
 17:42:21.5136 LVL= 30064, 28625, 18674, 28883, AGC= 65, IDX= 336,-0.02, 3.083, 1.793,-2.672, 3.010, PHS= 0.161,-1.170, 0.599, RAW= 163.8,   5.2, CAL= 164.0,  -4.1, ROT= 346.0,   4.1

2025-01-08T17:42:23.333Z,1736358143.333 [DAT](INFO): DAT read: Bearing 346.0,   4.1 (Local)

2025-01-08T17:42:23.333Z,1736358143.333 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.0,   4.1 (Local)

2025-01-08T17:42:23.336Z,1736358143.336 [DAT](INFO): DAT read: Range 10 to 50 : 49.5 m  (Round-trip  66.0 ms) speed  0.5 m/s

2025-01-08T17:42:23.337Z,1736358143.337 [DAT](INFO): DAT read: user:329>

2025-01-08T17:42:23.338Z,1736358143.338 [DAT](INFO): DAT read: Tx time:17:42:22.5936

2025-01-08T17:42:23.338Z,1736358143.338 [DAT](INFO): Ping request sent.
2025-01-08T17:42:23.338Z,1736358143.338 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:42:23.339Z,1736358143.339 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:42:23.357Z,1736358143.357 [DAT](INFO): direction in FSK: [0.967813,-0.241303,-0.071497]
2025-01-08T17:42:23.357Z,1736358143.357 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:23.358Z,1736358143.358 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:23.361Z,1736358143.361 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:23.361Z,1736358143.361 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:23.473Z,1736358143.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:23.501Z,1736358143.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.500000 m,
      deltaT: 14.636279 s,
      deltaX: -9.799999 m,
      approachRate: -0.669569 m/s,
      rangeRepo size: 4

2025-01-08T17:42:23.506Z,1736358143.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.500000 m,
      bearing: 117.143025 deg,
      lat: 36.904173 deg,
      lon: -122.119041 deg,
      deltaT: 14.636279 s,
      deltaX: -9.799999 m,
      approachRate: -0.669569 m/s,
      posRepo size: 4

2025-01-08T17:42:23.507Z,1736358143.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-01-08T17:42:23.526Z,1736358143.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.500000 m,
      nav range: 49.507107 m,
      bearing: 120.261478 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.065717 deg/s,
      cmd heading: 129.778744 deg,
      new cmd heading: 129.882839 deg.

2025-01-08T17:42:23.536Z,1736358143.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.266883 target range: 49.500000 and range: 49.50 m.
2025-01-08T17:42:23.574Z,1736358143.574 [DAT](INFO): DAT read: TxSync time:17:42:22.5928

2025-01-08T17:42:23.906Z,1736358143.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:23.923Z,1736358143.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-01-08T17:42:23.938Z,1736358143.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.500000 m,
      nav range: 49.184364 m,
      bearing: 120.270810 deg,
      approach rate: -0.765088 m/s,
      LOS rate: 0.022269 deg/s,
      cmd heading: 129.882836 deg,
      new cmd heading: 129.911018 deg.

2025-01-08T17:42:23.945Z,1736358143.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.267375 target range: 49.500000 and range: 49.50 m.
2025-01-08T17:42:24.346Z,1736358144.346 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:24.355Z,1736358144.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-01-08T17:42:24.360Z,1736358144.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.500000 m,
      nav range: 48.855812 m,
      bearing: 120.279490 deg,
      approach rate: -0.759999 m/s,
      LOS rate: 0.020213 deg/s,
      cmd heading: 129.911018 deg,
      new cmd heading: 129.937232 deg.

2025-01-08T17:42:24.361Z,1736358144.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.267833 target range: 49.500000 and range: 49.50 m.
2025-01-08T17:42:24.808Z,1736358144.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:24.842Z,1736358144.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-01-08T17:42:24.849Z,1736358144.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.500000 m,
      nav range: 48.495827 m,
      bearing: 120.294228 deg,
      approach rate: -0.740634 m/s,
      LOS rate: 0.030548 deg/s,
      cmd heading: 129.937232 deg,
      new cmd heading: 129.981775 deg.

2025-01-08T17:42:24.850Z,1736358144.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.268610 target range: 49.500000 and range: 49.50 m.
2025-01-08T17:42:25.148Z,1736358145.148 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:25.155Z,1736358145.155 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:25.158Z,1736358145.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-01-08T17:42:25.161Z,1736358145.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.500000 m,
      nav range: 48.229408 m,
      bearing: 120.304105 deg,
      approach rate: -0.842624 m/s,
      LOS rate: 0.031409 deg/s,
      cmd heading: 129.981778 deg,
      new cmd heading: 130.011571 deg.

2025-01-08T17:42:25.162Z,1736358145.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.269130 target range: 49.500000 and range: 49.50 m.
2025-01-08T17:42:25.336Z,1736358145.336 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:25.336Z,1736358145.336 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:25.336Z,1736358145.336 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:42:25.563Z,1736358145.563 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:25.575Z,1736358145.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-01-08T17:42:25.580Z,1736358145.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.500000 m,
      nav range: 47.906467 m,
      bearing: 120.315594 deg,
      approach rate: -0.778165 m/s,
      LOS rate: 0.027871 deg/s,
      cmd heading: 130.011572 deg,
      new cmd heading: 130.046272 deg.

2025-01-08T17:42:25.581Z,1736358145.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.269736 target range: 49.500000 and range: 49.50 m.
2025-01-08T17:42:25.588Z,1736358145.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249967
2025-01-08T17:42:25.841Z,1736358145.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503118
2025-01-08T17:42:25.982Z,1736358145.982 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:26.011Z,1736358146.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-01-08T17:42:26.018Z,1736358146.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.500000 m,
      nav range: 47.568687 m,
      bearing: 120.322641 deg,
      approach rate: -0.769930 m/s,
      LOS rate: 0.016178 deg/s,
      cmd heading: 130.046269 deg,
      new cmd heading: 130.067562 deg.

2025-01-08T17:42:26.019Z,1736358146.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.270107 target range: 49.500000 and range: 49.50 m.
2025-01-08T17:42:26.093Z,1736358146.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754473
2025-01-08T17:42:26.344Z,1736358146.344 [DAT](INFO): DAT read: Rx Time:17:42:25.0609

2025-01-08T17:42:26.345Z,1736358146.345 [DAT](INFO): Rx dataTimestamp_ set to:1736358146.344615
2025-01-08T17:42:26.345Z,1736358146.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007085
2025-01-08T17:42:26.397Z,1736358146.397 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:26.420Z,1736358146.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.50 m.
2025-01-08T17:42:26.422Z,1736358146.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.500000 m,
      nav range: 47.235008 m,
      bearing: 120.329043 deg,
      approach rate: -0.825446 m/s,
      LOS rate: 0.015948 deg/s,
      cmd heading: 130.067566 deg,
      new cmd heading: 130.086906 deg.

2025-01-08T17:42:26.428Z,1736358146.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.270445 target range: 49.500000 and range: 49.50 m.
2025-01-08T17:42:26.596Z,1736358146.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257809
2025-01-08T17:42:26.854Z,1736358146.854 [DAT](INFO): DAT read: 17:42:25.0609 LVL= 20800, 28561, 15202, 27571, AGC= 63, IDX= 419, 0.09,-0.432,-1.618, 0.087,-0.520, PHS= 0.177,-1.050, 0.605, RAW= 164.4,   3.7, CAL= 165.1,  -5.3, ROT= 344.9,   5.3

2025-01-08T17:42:26.856Z,1736358146.856 [DAT](INFO): got valid direction response:
 17:42:25.0609 LVL= 20800, 28561, 15202, 27571, AGC= 63, IDX= 419, 0.09,-0.432,-1.618, 0.087,-0.520, PHS= 0.177,-1.050, 0.605, RAW= 164.4,   3.7, CAL= 165.1,  -5.3, ROT= 344.9,   5.3

2025-01-08T17:42:26.857Z,1736358146.857 [DAT](INFO): DAT read: Bearing 344.9,   5.3 (Local)

2025-01-08T17:42:26.857Z,1736358146.857 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.9,   5.3 (Local)

2025-01-08T17:42:26.859Z,1736358146.859 [DAT](INFO): DAT read: Range 10 to 50 : 47.3 m  (Round-trip  63.1 ms) speed  0.8 m/s

2025-01-08T17:42:26.860Z,1736358146.860 [DAT](INFO): DAT read: user:330>

2025-01-08T17:42:26.861Z,1736358146.861 [DAT](INFO): DAT read: Tx time:17:42:26.1436

2025-01-08T17:42:26.861Z,1736358146.861 [DAT](INFO): Ping request sent.
2025-01-08T17:42:26.861Z,1736358146.861 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:42:26.861Z,1736358146.861 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:42:26.862Z,1736358146.862 [DAT](INFO): direction in FSK: [0.961345,-0.259391,-0.092371]
2025-01-08T17:42:26.863Z,1736358146.863 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:26.863Z,1736358146.863 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:26.866Z,1736358146.866 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:26.866Z,1736358146.866 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:26.943Z,1736358146.943 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:26.982Z,1736358146.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.299999 m,
      deltaT: 3.525648 s,
      deltaX: -2.200001 m,
      approachRate: -0.623999 m/s,
      rangeRepo size: 4

2025-01-08T17:42:26.984Z,1736358146.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.299999 m,
      bearing: 117.333605 deg,
      lat: 36.904180 deg,
      lon: -122.119029 deg,
      deltaT: 3.525648 s,
      deltaX: -2.200001 m,
      approachRate: -0.623999 m/s,
      posRepo size: 4

2025-01-08T17:42:26.985Z,1736358146.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-01-08T17:42:27.000Z,1736358147.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.299999 m,
      nav range: 47.357155 m,
      bearing: 118.849946 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015948 deg/s,
      cmd heading: 130.086909 deg,
      new cmd heading: 130.113985 deg.

2025-01-08T17:42:27.001Z,1736358147.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.270917 target range: 47.299999 and range: 47.30 m.
2025-01-08T17:42:27.101Z,1736358147.101 [DAT](INFO): DAT read: TxSync time:17:42:26.1428

2025-01-08T17:42:27.268Z,1736358147.268 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:27.288Z,1736358147.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:27.290Z,1736358147.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-01-08T17:42:27.298Z,1736358147.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.299999 m,
      nav range: 47.098492 m,
      bearing: 118.843179 deg,
      approach rate: -0.837808 m/s,
      LOS rate: -0.022038 deg/s,
      cmd heading: 130.113984 deg,
      new cmd heading: 130.093572 deg.

2025-01-08T17:42:27.299Z,1736358147.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.270561 target range: 47.299999 and range: 47.30 m.
2025-01-08T17:42:27.352Z,1736358147.352 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:27.352Z,1736358147.352 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:27.353Z,1736358147.353 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:42:27.604Z,1736358147.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743101
2025-01-08T17:42:27.688Z,1736358147.688 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:27.718Z,1736358147.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-01-08T17:42:27.727Z,1736358147.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.299999 m,
      nav range: 46.766083 m,
      bearing: 118.834353 deg,
      approach rate: -0.775754 m/s,
      LOS rate: -0.020743 deg/s,
      cmd heading: 130.093575 deg,
      new cmd heading: 130.066910 deg.

2025-01-08T17:42:27.734Z,1736358147.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.270096 target range: 47.299999 and range: 47.30 m.
2025-01-08T17:42:27.857Z,1736358147.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995687
2025-01-08T17:42:28.108Z,1736358148.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247291
2025-01-08T17:42:28.110Z,1736358148.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:28.132Z,1736358148.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-01-08T17:42:28.140Z,1736358148.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.299999 m,
      nav range: 46.440083 m,
      bearing: 118.810038 deg,
      approach rate: -0.787315 m/s,
      LOS rate: -0.059135 deg/s,
      cmd heading: 130.066910 deg,
      new cmd heading: 129.993452 deg.

2025-01-08T17:42:28.142Z,1736358148.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.268814 target range: 47.299999 and range: 47.30 m.
2025-01-08T17:42:28.361Z,1736358148.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499627
2025-01-08T17:42:28.584Z,1736358148.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:28.594Z,1736358148.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-01-08T17:42:28.601Z,1736358148.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.299999 m,
      nav range: 46.075939 m,
      bearing: 118.782470 deg,
      approach rate: -0.790590 m/s,
      LOS rate: -0.060325 deg/s,
      cmd heading: 129.993458 deg,
      new cmd heading: 129.910102 deg.

2025-01-08T17:42:28.604Z,1736358148.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.267359 target range: 47.299999 and range: 47.30 m.
2025-01-08T17:42:28.614Z,1736358148.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752630
2025-01-08T17:42:28.864Z,1736358148.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003064
2025-01-08T17:42:29.012Z,1736358149.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:29.021Z,1736358149.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-01-08T17:42:29.023Z,1736358149.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.299999 m,
      nav range: 45.771210 m,
      bearing: 118.746658 deg,
      approach rate: -0.712719 m/s,
      LOS rate: -0.084319 deg/s,
      cmd heading: 129.910102 deg,
      new cmd heading: 129.801949 deg.

2025-01-08T17:42:29.025Z,1736358149.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.265471 target range: 47.299999 and range: 47.30 m.
2025-01-08T17:42:29.116Z,1736358149.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255123
2025-01-08T17:42:29.368Z,1736358149.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506994
2025-01-08T17:42:29.433Z,1736358149.433 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:29.439Z,1736358149.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:29.442Z,1736358149.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-01-08T17:42:29.446Z,1736358149.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.299999 m,
      nav range: 45.471684 m,
      bearing: 118.711035 deg,
      approach rate: -0.710054 m/s,
      LOS rate: -0.085003 deg/s,
      cmd heading: 129.801953 deg,
      new cmd heading: 129.694382 deg.

2025-01-08T17:42:29.447Z,1736358149.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.263594 target range: 47.299999 and range: 47.30 m.
2025-01-08T17:42:29.624Z,1736358149.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762309
2025-01-08T17:42:29.872Z,1736358149.872 [DAT](INFO): DAT read: Rx Time:17:42:28.6076

2025-01-08T17:42:29.873Z,1736358149.873 [DAT](INFO): Rx dataTimestamp_ set to:1736358149.872584
2025-01-08T17:42:29.873Z,1736358149.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012224
2025-01-08T17:42:29.911Z,1736358149.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:29.925Z,1736358149.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-01-08T17:42:29.928Z,1736358149.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.299999 m,
      nav range: 45.156670 m,
      bearing: 118.653416 deg,
      approach rate: -0.652359 m/s,
      LOS rate: -0.120156 deg/s,
      cmd heading: 129.694378 deg,
      new cmd heading: 129.520314 deg.

2025-01-08T17:42:29.929Z,1736358149.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.260556 target range: 47.299999 and range: 47.30 m.
2025-01-08T17:42:30.125Z,1736358150.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263731
2025-01-08T17:42:30.324Z,1736358150.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:30.349Z,1736358150.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-01-08T17:42:30.352Z,1736358150.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.299999 m,
      nav range: 44.885338 m,
      bearing: 118.603552 deg,
      approach rate: -0.640701 m/s,
      LOS rate: -0.118457 deg/s,
      cmd heading: 129.520317 deg,
      new cmd heading: 129.369821 deg.

2025-01-08T17:42:30.353Z,1736358150.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.257929 target range: 47.299999 and range: 47.30 m.
2025-01-08T17:42:30.388Z,1736358150.388 [DAT](INFO): DAT read: L= 28432, 28513, 17906, 30099, AGC= 61, IDX= 401, 0.37,-1.927, 3.106,-1.462,-2.044, PHS= 0.204,-1.086, 0.579, RAW= 162.4,   4.0, CAL= 163.0,  -5.1, ROT= 347.0,   5.1

2025-01-08T17:42:30.389Z,1736358150.389 [DAT](INFO): Local DAT time set to L= 28432, 28513, 17906, 30099, AGC= 61, IDX= 401, 0.37,-1.927, 3.106,-1.462,-2.044, PHS= 0.204,-1.086, 0.579, RAW= 162.4,   4.0, CAL= 163.0,  -5.1, ROT= 347.0,   5.1

2025-01-08T17:42:30.391Z,1736358150.391 [DAT](INFO): DAT read: Bearing 347.0,   5.1 (Local)

2025-01-08T17:42:30.392Z,1736358150.392 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.0,   5.1 (Local)

2025-01-08T17:42:30.394Z,1736358150.394 [DAT](INFO): DAT read: Range 10 to 50 : 44.8 m  (Round-trip  59.8 ms) speed  0.8 m/s

2025-01-08T17:42:30.403Z,1736358150.403 [DAT](INFO): DAT read: user:331>

2025-01-08T17:42:30.405Z,1736358150.405 [DAT](INFO): DAT read: Tx time:17:42:29.6936

2025-01-08T17:42:30.405Z,1736358150.405 [DAT](INFO): Ping request sent.
2025-01-08T17:42:30.405Z,1736358150.405 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:42:30.406Z,1736358150.406 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:42:30.406Z,1736358150.406 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:30.414Z,1736358150.414 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:30.630Z,1736358150.630 [DAT](INFO): DAT read: TxSync time:17:42:29.6928

2025-01-08T17:42:30.714Z,1736358150.714 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:30.729Z,1736358150.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 44.799999 m,
      deltaT: 3.528170 s,
      deltaX: -2.500000 m,
      approachRate: -0.708583 m/s,
      rangeRepo size: 4

2025-01-08T17:42:30.729Z,1736358150.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-01-08T17:42:30.732Z,1736358150.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.299999 m,
      nav range: 44.626930 m,
      bearing: 118.555493 deg,
      approach rate: -0.680995 m/s,
      LOS rate: -0.127385 deg/s,
      cmd heading: 129.369821 deg,
      new cmd heading: 129.224810 deg.

2025-01-08T17:42:30.734Z,1736358150.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.255399 target range: 47.299999 and range: 44.80 m.
2025-01-08T17:42:31.152Z,1736358151.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:31.162Z,1736358151.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-01-08T17:42:31.165Z,1736358151.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.299999 m,
      nav range: 44.364285 m,
      bearing: 118.494712 deg,
      approach rate: -0.605898 m/s,
      LOS rate: -0.141045 deg/s,
      cmd heading: 129.224816 deg,
      new cmd heading: 129.041395 deg.

2025-01-08T17:42:31.166Z,1736358151.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.252197 target range: 47.299999 and range: 44.80 m.
2025-01-08T17:42:31.525Z,1736358151.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:31.532Z,1736358151.532 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:31.534Z,1736358151.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-01-08T17:42:31.537Z,1736358151.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.299999 m,
      nav range: 44.140163 m,
      bearing: 118.443573 deg,
      approach rate: -0.601211 m/s,
      LOS rate: -0.137878 deg/s,
      cmd heading: 129.041398 deg,
      new cmd heading: 128.887203 deg.

2025-01-08T17:42:31.538Z,1736358151.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.249506 target range: 47.299999 and range: 44.80 m.
2025-01-08T17:42:31.638Z,1736358151.638 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:31.638Z,1736358151.638 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:31.639Z,1736358151.639 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:42:31.894Z,1736358151.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488516
2025-01-08T17:42:31.950Z,1736358151.950 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:31.960Z,1736358151.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-01-08T17:42:31.962Z,1736358151.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.299999 m,
      nav range: 43.910851 m,
      bearing: 118.378271 deg,
      approach rate: -0.539526 m/s,
      LOS rate: -0.154444 deg/s,
      cmd heading: 128.887200 deg,
      new cmd heading: 128.690272 deg.

2025-01-08T17:42:31.964Z,1736358151.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.246069 target range: 47.299999 and range: 44.80 m.
2025-01-08T17:42:32.145Z,1736358152.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739421
2025-01-08T17:42:32.328Z,1736358152.328 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:32.337Z,1736358152.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-01-08T17:42:32.356Z,1736358152.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.299999 m,
      nav range: 43.706551 m,
      bearing: 118.321246 deg,
      approach rate: -0.541116 m/s,
      LOS rate: -0.151746 deg/s,
      cmd heading: 128.690272 deg,
      new cmd heading: 128.518396 deg.

2025-01-08T17:42:32.357Z,1736358152.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.243069 target range: 47.299999 and range: 44.80 m.
2025-01-08T17:42:32.398Z,1736358152.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992797
2025-01-08T17:42:32.648Z,1736358152.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243114
2025-01-08T17:42:32.788Z,1736358152.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:32.802Z,1736358152.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-01-08T17:42:32.805Z,1736358152.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.299999 m,
      nav range: 43.458027 m,
      bearing: 118.251138 deg,
      approach rate: -0.534617 m/s,
      LOS rate: -0.151677 deg/s,
      cmd heading: 128.518397 deg,
      new cmd heading: 128.306870 deg.

2025-01-08T17:42:32.806Z,1736358152.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.239377 target range: 47.299999 and range: 44.80 m.
2025-01-08T17:42:32.900Z,1736358152.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495333
2025-01-08T17:42:33.152Z,1736358153.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747070
2025-01-08T17:42:33.222Z,1736358153.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:33.231Z,1736358153.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-01-08T17:42:33.234Z,1736358153.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.299999 m,
      nav range: 43.237125 m,
      bearing: 118.176163 deg,
      approach rate: -0.514521 m/s,
      LOS rate: -0.175521 deg/s,
      cmd heading: 128.306866 deg,
      new cmd heading: 128.080795 deg.

2025-01-08T17:42:33.236Z,1736358153.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.235432 target range: 47.299999 and range: 44.80 m.
2025-01-08T17:42:33.405Z,1736358153.405 [DAT](INFO): DAT read: Rx Time:17:42:32.1542

2025-01-08T17:42:33.406Z,1736358153.406 [DAT](INFO): Rx dataTimestamp_ set to:1736358153.405532
2025-01-08T17:42:33.407Z,1736358153.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001619
2025-01-08T17:42:33.645Z,1736358153.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:33.652Z,1736358153.652 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:33.654Z,1736358153.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.30 m.
2025-01-08T17:42:33.656Z,1736358153.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251337
2025-01-08T17:42:33.658Z,1736358153.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.299999 m,
      nav range: 43.020657 m,
      bearing: 118.105909 deg,
      approach rate: -0.512544 m/s,
      LOS rate: -0.167182 deg/s,
      cmd heading: 128.080800 deg,
      new cmd heading: 127.868977 deg.

2025-01-08T17:42:33.660Z,1736358153.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.231735 target range: 47.299999 and range: 44.80 m.
2025-01-08T17:42:33.915Z,1736358153.915 [DAT](INFO): DAT read: 17:42:32.1542 LVL= 19440, 31025, 17906, 29747, AGC= 65, IDX= 415, 0.14, 2.912, 1.694,-2.944, 2.733, PHS= 0.267,-0.992, 0.603, RAW= 161.5,   1.7, CAL= 163.0,  -7.1, ROT= 347.0,   7.1

2025-01-08T17:42:33.916Z,1736358153.916 [DAT](INFO): got valid direction response:
 17:42:32.1542 LVL= 19440, 31025, 17906, 29747, AGC= 65, IDX= 415, 0.14, 2.912, 1.694,-2.944, 2.733, PHS= 0.267,-0.992, 0.603, RAW= 161.5,   1.7, CAL= 163.0,  -7.1, ROT= 347.0,   7.1

2025-01-08T17:42:33.917Z,1736358153.917 [DAT](INFO): DAT read: Bearing 347.0,   7.1 (Local)

2025-01-08T17:42:33.918Z,1736358153.918 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.0,   7.1 (Local)

2025-01-08T17:42:33.919Z,1736358153.919 [DAT](INFO): DAT read: Range 10 to 50 : 42.3 m  (Round-trip  56.5 ms) speed  0.5 m/s

2025-01-08T17:42:33.920Z,1736358153.920 [DAT](INFO): DAT read: user:332>

2025-01-08T17:42:33.921Z,1736358153.921 [DAT](INFO): DAT read: Tx time:17:42:33.2436

2025-01-08T17:42:33.921Z,1736358153.921 [DAT](INFO): Ping request sent.
2025-01-08T17:42:33.921Z,1736358153.921 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:42:33.922Z,1736358153.922 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:42:33.923Z,1736358153.923 [DAT](INFO): direction in FSK: [0.966899,-0.223226,-0.123601]
2025-01-08T17:42:33.923Z,1736358153.923 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:33.923Z,1736358153.923 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:33.927Z,1736358153.927 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:33.928Z,1736358153.928 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:34.118Z,1736358154.118 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:34.148Z,1736358154.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 42.299999 m,
      deltaT: 3.533079 s,
      deltaX: -2.500000 m,
      approachRate: -0.707598 m/s,
      rangeRepo size: 4

2025-01-08T17:42:34.150Z,1736358154.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.299999 m,
      bearing: 117.949953 deg,
      lat: 36.904184 deg,
      lon: -122.119037 deg,
      deltaT: 7.061249 s,
      deltaX: -5.000000 m,
      approachRate: -0.708090 m/s,
      posRepo size: 4

2025-01-08T17:42:34.156Z,1736358154.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.30 m.
2025-01-08T17:42:34.161Z,1736358154.161 [DAT](INFO): DAT read: TxSync time:17:42:33.2428

2025-01-08T17:42:34.163Z,1736358154.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.299999 m,
      nav range: 41.979702 m,
      bearing: 117.949802 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.167182 deg/s,
      cmd heading: 127.868982 deg,
      new cmd heading: 127.621151 deg.

2025-01-08T17:42:34.164Z,1736358154.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.227409 target range: 42.299999 and range: 42.30 m.
2025-01-08T17:42:34.448Z,1736358154.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:34.456Z,1736358154.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.30 m.
2025-01-08T17:42:34.460Z,1736358154.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.299999 m,
      nav range: 41.814354 m,
      bearing: 117.896604 deg,
      approach rate: -0.535936 m/s,
      LOS rate: -0.173109 deg/s,
      cmd heading: 127.621156 deg,
      new cmd heading: 127.460933 deg.

2025-01-08T17:42:34.461Z,1736358154.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.224613 target range: 42.299999 and range: 42.30 m.
2025-01-08T17:42:34.882Z,1736358154.882 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:34.927Z,1736358154.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.30 m.
2025-01-08T17:42:34.934Z,1736358154.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.299999 m,
      nav range: 41.597626 m,
      bearing: 117.826216 deg,
      approach rate: -0.460547 m/s,
      LOS rate: -0.150354 deg/s,
      cmd heading: 127.460933 deg,
      new cmd heading: 127.248670 deg.

2025-01-08T17:42:34.935Z,1736358154.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.220908 target range: 42.299999 and range: 42.30 m.
2025-01-08T17:42:35.280Z,1736358155.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:35.288Z,1736358155.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.30 m.
2025-01-08T17:42:35.292Z,1736358155.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.299999 m,
      nav range: 41.401302 m,
      bearing: 117.770252 deg,
      approach rate: -0.543328 m/s,
      LOS rate: -0.155616 deg/s,
      cmd heading: 127.248665 deg,
      new cmd heading: 127.079977 deg.

2025-01-08T17:42:35.293Z,1736358155.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.217964 target range: 42.299999 and range: 42.30 m.
2025-01-08T17:42:35.664Z,1736358155.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:35.677Z,1736358155.677 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:35.681Z,1736358155.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.30 m.
2025-01-08T17:42:35.686Z,1736358155.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.299999 m,
      nav range: 41.211857 m,
      bearing: 117.715732 deg,
      approach rate: -0.482811 m/s,
      LOS rate: -0.139587 deg/s,
      cmd heading: 127.079973 deg,
      new cmd heading: 126.915659 deg.

2025-01-08T17:42:35.688Z,1736358155.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.215096 target range: 42.299999 and range: 42.30 m.
2025-01-08T17:42:35.927Z,1736358155.927 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:35.928Z,1736358155.928 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:35.928Z,1736358155.928 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:42:36.153Z,1736358156.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:36.176Z,1736358156.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255094
2025-01-08T17:42:36.187Z,1736358156.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.30 m.
2025-01-08T17:42:36.194Z,1736358156.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.299999 m,
      nav range: 40.959698 m,
      bearing: 117.661716 deg,
      approach rate: -0.497996 m/s,
      LOS rate: -0.107333 deg/s,
      cmd heading: 126.915665 deg,
      new cmd heading: 126.752622 deg.

2025-01-08T17:42:36.195Z,1736358156.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.212251 target range: 42.299999 and range: 42.30 m.
2025-01-08T17:42:36.409Z,1736358156.409 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:42:36.429Z,1736358156.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507345
2025-01-08T17:42:36.542Z,1736358156.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:36.551Z,1736358156.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.30 m.
2025-01-08T17:42:36.555Z,1736358156.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.299999 m,
      nav range: 40.758419 m,
      bearing: 117.619302 deg,
      approach rate: -0.553006 m/s,
      LOS rate: -0.117106 deg/s,
      cmd heading: 126.752629 deg,
      new cmd heading: 126.624759 deg.

2025-01-08T17:42:36.556Z,1736358156.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.210019 target range: 42.299999 and range: 42.30 m.
2025-01-08T17:42:36.688Z,1736358156.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767001
2025-01-08T17:42:36.941Z,1736358156.941 [DAT](INFO): DAT read: Rx Time:17:42:35.7013

2025-01-08T17:42:36.942Z,1736358156.942 [DAT](INFO): Rx dataTimestamp_ set to:1736358156.941397
2025-01-08T17:42:36.942Z,1736358156.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020945
2025-01-08T17:42:37.016Z,1736358157.016 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:37.039Z,1736358157.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.30 m.
2025-01-08T17:42:37.047Z,1736358157.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.299999 m,
      nav range: 40.496658 m,
      bearing: 117.578874 deg,
      approach rate: -0.540404 m/s,
      LOS rate: -0.084003 deg/s,
      cmd heading: 126.624754 deg,
      new cmd heading: 126.502686 deg.

2025-01-08T17:42:37.049Z,1736358157.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.207888 target range: 42.299999 and range: 42.30 m.
2025-01-08T17:42:37.184Z,1736358157.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262982
2025-01-08T17:42:37.413Z,1736358157.413 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:42:37.461Z,1736358157.461 [DAT](INFO): DAT read: 17:42:35.7013 LVL= 21456, 30081, 18482, 29395, AGC= 59, IDX= 416,-0.04,-2.795, 2.217,-2.411,-2.943, PHS= 0.236,-1.077, 0.529, RAW= 159.9,   4.3, CAL= 160.7,  -4.9, ROT= 349.3,   4.9

2025-01-08T17:42:37.464Z,1736358157.464 [DAT](INFO): got valid direction response:
 17:42:35.7013 LVL= 21456, 30081, 18482, 29395, AGC= 59, IDX= 416,-0.04,-2.795, 2.217,-2.411,-2.943, PHS= 0.236,-1.077, 0.529, RAW= 159.9,   4.3, CAL= 160.7,  -4.9, ROT= 349.3,   4.9

2025-01-08T17:42:37.466Z,1736358157.466 [DAT](INFO): DAT read: Bearing 349.3,   4.9 (Local)

2025-01-08T17:42:37.480Z,1736358157.480 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.3,   4.9 (Local)

2025-01-08T17:42:37.482Z,1736358157.482 [DAT](INFO): DAT read: Range 10 to 50 : 40.1 m  (Round-trip  53.5 ms) speed  0.6 m/s

2025-01-08T17:42:37.489Z,1736358157.489 [DAT](INFO): DAT read: user:333>

2025-01-08T17:42:37.491Z,1736358157.491 [DAT](INFO): DAT read: Tx time:17:42:36.7937

2025-01-08T17:42:37.492Z,1736358157.492 [DAT](INFO): Ping request sent.
2025-01-08T17:42:37.492Z,1736358157.492 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:42:37.492Z,1736358157.492 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:42:37.493Z,1736358157.493 [DAT](INFO): direction in FSK: [0.979022,-0.184988,-0.085417]
2025-01-08T17:42:37.494Z,1736358157.494 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:37.494Z,1736358157.494 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:37.513Z,1736358157.513 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:37.513Z,1736358157.513 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:37.533Z,1736358157.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:37.568Z,1736358157.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.099998 m,
      deltaT: 3.543071 s,
      deltaX: -2.200001 m,
      approachRate: -0.620930 m/s,
      rangeRepo size: 4

2025-01-08T17:42:37.570Z,1736358157.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.099998 m,
      bearing: 118.187952 deg,
      lat: 36.904184 deg,
      lon: -122.119037 deg,
      deltaT: 3.543071 s,
      deltaX: -2.200001 m,
      approachRate: -0.620930 m/s,
      posRepo size: 4

2025-01-08T17:42:37.570Z,1736358157.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m.
2025-01-08T17:42:37.581Z,1736358157.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.099998 m,
      nav range: 40.211128 m,
      bearing: 117.534172 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.084003 deg/s,
      cmd heading: 126.502685 deg,
      new cmd heading: 126.369784 deg.

2025-01-08T17:42:37.582Z,1736358157.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.205569 target range: 40.099998 and range: 40.10 m.
2025-01-08T17:42:37.704Z,1736358157.704 [DAT](INFO): DAT read: TxSync time:17:42:36.7929

2025-01-08T17:42:37.911Z,1736358157.911 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:37.976Z,1736358157.976 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:37.978Z,1736358157.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m.
2025-01-08T17:42:37.985Z,1736358157.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.099998 m,
      nav range: 40.005146 m,
      bearing: 117.503883 deg,
      approach rate: -0.495279 m/s,
      LOS rate: -0.073204 deg/s,
      cmd heading: 126.369783 deg,
      new cmd heading: 126.278448 deg.

2025-01-08T17:42:37.986Z,1736358157.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.203975 target range: 40.099998 and range: 40.10 m.
2025-01-08T17:42:38.209Z,1736358158.209 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:38.209Z,1736358158.209 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:38.209Z,1736358158.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:42:38.300Z,1736358158.300 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:38.309Z,1736358158.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m.
2025-01-08T17:42:38.312Z,1736358158.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.099998 m,
      nav range: 39.766136 m,
      bearing: 117.484327 deg,
      approach rate: -0.722219 m/s,
      LOS rate: -0.059448 deg/s,
      cmd heading: 126.278450 deg,
      new cmd heading: 126.219429 deg.

2025-01-08T17:42:38.313Z,1736358158.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.202945 target range: 40.099998 and range: 40.10 m.
2025-01-08T17:42:38.461Z,1736358158.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.969157
2025-01-08T17:42:38.704Z,1736358158.704 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:38.712Z,1736358158.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.220319
2025-01-08T17:42:38.732Z,1736358158.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m.
2025-01-08T17:42:38.743Z,1736358158.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.099998 m,
      nav range: 39.521023 m,
      bearing: 117.464026 deg,
      approach rate: -0.579392 m/s,
      LOS rate: -0.048285 deg/s,
      cmd heading: 126.219423 deg,
      new cmd heading: 126.158142 deg.

2025-01-08T17:42:38.744Z,1736358158.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201875 target range: 40.099998 and range: 40.10 m.
2025-01-08T17:42:38.968Z,1736358158.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475070
2025-01-08T17:42:39.112Z,1736358159.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:39.120Z,1736358159.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m.
2025-01-08T17:42:39.123Z,1736358159.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.099998 m,
      nav range: 39.253143 m,
      bearing: 117.453477 deg,
      approach rate: -0.690906 m/s,
      LOS rate: -0.027394 deg/s,
      cmd heading: 126.158143 deg,
      new cmd heading: 126.126279 deg.

2025-01-08T17:42:39.125Z,1736358159.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201319 target range: 40.099998 and range: 40.10 m.
2025-01-08T17:42:39.217Z,1736358159.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725057
2025-01-08T17:42:39.468Z,1736358159.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976317
2025-01-08T17:42:39.488Z,1736358159.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:39.498Z,1736358159.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m.
2025-01-08T17:42:39.501Z,1736358159.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.099998 m,
      nav range: 39.005821 m,
      bearing: 117.444336 deg,
      approach rate: -0.654993 m/s,
      LOS rate: -0.024362 deg/s,
      cmd heading: 126.126273 deg,
      new cmd heading: 126.098676 deg.

2025-01-08T17:42:39.502Z,1736358159.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.200837 target range: 40.099998 and range: 40.10 m.
2025-01-08T17:42:39.722Z,1736358159.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229444
2025-01-08T17:42:39.897Z,1736358159.897 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:39.926Z,1736358159.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m.
2025-01-08T17:42:39.942Z,1736358159.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.099998 m,
      nav range: 38.736965 m,
      bearing: 117.434613 deg,
      approach rate: -0.628217 m/s,
      LOS rate: -0.022876 deg/s,
      cmd heading: 126.098679 deg,
      new cmd heading: 126.069309 deg.

2025-01-08T17:42:39.951Z,1736358159.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.200325 target range: 40.099998 and range: 40.10 m.
2025-01-08T17:42:39.976Z,1736358159.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483062
2025-01-08T17:42:40.225Z,1736358160.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733319
2025-01-08T17:42:40.337Z,1736358160.337 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:40.345Z,1736358160.345 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:40.347Z,1736358160.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m.
2025-01-08T17:42:40.350Z,1736358160.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.099998 m,
      nav range: 38.427090 m,
      bearing: 117.427013 deg,
      approach rate: -0.736233 m/s,
      LOS rate: -0.018203 deg/s,
      cmd heading: 126.069309 deg,
      new cmd heading: 126.046325 deg.

2025-01-08T17:42:40.354Z,1736358160.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.199923 target range: 40.099998 and range: 40.10 m.
2025-01-08T17:42:40.476Z,1736358160.476 [DAT](INFO): DAT read: Rx Time:17:42:39.2487

2025-01-08T17:42:40.477Z,1736358160.477 [DAT](INFO): Rx dataTimestamp_ set to:1736358160.476598
2025-01-08T17:42:40.477Z,1736358160.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985420
2025-01-08T17:42:40.705Z,1736358160.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:40.729Z,1736358160.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237093
2025-01-08T17:42:40.738Z,1736358160.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.10 m.
2025-01-08T17:42:40.741Z,1736358160.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.099998 m,
      nav range: 38.168049 m,
      bearing: 117.421223 deg,
      approach rate: -0.661686 m/s,
      LOS rate: -0.014890 deg/s,
      cmd heading: 126.046319 deg,
      new cmd heading: 126.028832 deg.

2025-01-08T17:42:40.742Z,1736358160.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.199618 target range: 40.099998 and range: 40.10 m.
2025-01-08T17:42:41.001Z,1736358161.001 [DAT](INFO): DAT read: 17:42:39.2487 LVL= 21296, 32417, 19490, 32083, AGC= 58, IDX= 421, 0.02, 1.409, 0.092, 1.730, 1.202, PHS= 0.295,-1.063, 0.525, RAW= 157.7,   3.3, CAL= 159.1,  -5.7, ROT= 350.9,   5.7

2025-01-08T17:42:41.003Z,1736358161.003 [DAT](INFO): got valid direction response:
 17:42:39.2487 LVL= 21296, 32417, 19490, 32083, AGC= 58, IDX= 421, 0.02, 1.409, 0.092, 1.730, 1.202, PHS= 0.295,-1.063, 0.525, RAW= 157.7,   3.3, CAL= 159.1,  -5.7, ROT= 350.9,   5.7

2025-01-08T17:42:41.004Z,1736358161.004 [DAT](INFO): DAT read: Bearing 350.9,   5.7 (Local)

2025-01-08T17:42:41.004Z,1736358161.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.9,   5.7 (Local)

2025-01-08T17:42:41.005Z,1736358161.005 [DAT](INFO): DAT read: Range 10 to 50 : 38.1 m  (Round-trip  50.8 ms) speed  0.5 m/s

2025-01-08T17:42:41.006Z,1736358161.006 [DAT](INFO): DAT read: user:334>

2025-01-08T17:42:41.023Z,1736358161.023 [DAT](INFO): DAT read: Tx time:17:42:40.3437

2025-01-08T17:42:41.024Z,1736358161.024 [DAT](INFO): Ping request sent.
2025-01-08T17:42:41.024Z,1736358161.024 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:42:41.025Z,1736358161.025 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:42:41.026Z,1736358161.026 [DAT](INFO): direction in FSK: [0.982532,-0.157376,-0.099320]
2025-01-08T17:42:41.026Z,1736358161.026 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:41.026Z,1736358161.026 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:41.034Z,1736358161.034 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:41.034Z,1736358161.034 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:41.174Z,1736358161.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:41.209Z,1736358161.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.099998 m,
      deltaT: 3.529249 s,
      deltaX: -2.000000 m,
      approachRate: -0.566693 m/s,
      rangeRepo size: 4

2025-01-08T17:42:41.211Z,1736358161.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.099998 m,
      bearing: 119.050760 deg,
      lat: 36.904184 deg,
      lon: -122.119037 deg,
      deltaT: 3.529249 s,
      deltaX: -2.000000 m,
      approachRate: -0.566693 m/s,
      posRepo size: 4

2025-01-08T17:42:41.216Z,1736358161.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-01-08T17:42:41.218Z,1736358161.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 37.818027 m,
      bearing: 117.425994 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014890 deg/s,
      cmd heading: 126.028834 deg,
      new cmd heading: 126.008047 deg.

2025-01-08T17:42:41.224Z,1736358161.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.199255 target range: 38.099998 and range: 38.10 m.
2025-01-08T17:42:41.232Z,1736358161.232 [DAT](INFO): DAT read: TxSync time:17:42:40.3429

2025-01-08T17:42:41.649Z,1736358161.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:41.655Z,1736358161.655 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-01-08T17:42:41.655Z,1736358161.655 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-01-08T17:42:41.656Z,1736358161.656 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-01-08T17:42:41.658Z,1736358161.658 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  38.099998 m (mode  2.000000 count ).
2025-01-08T17:42:41.658Z,1736358161.658 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-01-08T17:42:41.658Z,1736358161.658 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-01-08T17:42:41.661Z,1736358161.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-01-08T17:42:41.665Z,1736358161.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 37.462872 m,
      bearing: 117.431206 deg,
      approach rate: -0.777325 m/s,
      LOS rate: 0.011517 deg/s,
      cmd heading: 126.008043 deg,
      new cmd heading: 126.023828 deg.

2025-01-08T17:42:41.668Z,1736358161.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.199531 target range: 38.099998 and range: 38.10 m.
2025-01-08T17:42:42.075Z,1736358162.075 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:42.082Z,1736358162.082 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-01-08T17:42:42.082Z,1736358162.082 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-01-08T17:42:42.084Z,1736358162.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-01-08T17:42:42.087Z,1736358162.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 37.132118 m,
      bearing: 117.437824 deg,
      approach rate: -0.780870 m/s,
      LOS rate: 0.015762 deg/s,
      cmd heading: 126.023834 deg,
      new cmd heading: 126.043863 deg.

2025-01-08T17:42:42.088Z,1736358162.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.199880 target range: 38.099998 and range: 38.10 m.
2025-01-08T17:42:42.481Z,1736358162.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:42.499Z,1736358162.499 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-01-08T17:42:42.499Z,1736358162.499 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-01-08T17:42:42.500Z,1736358162.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:42.502Z,1736358162.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-01-08T17:42:42.509Z,1736358162.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 36.817249 m,
      bearing: 117.444870 deg,
      approach rate: -0.753518 m/s,
      LOS rate: 0.017008 deg/s,
      cmd heading: 126.043860 deg,
      new cmd heading: 126.065181 deg.

2025-01-08T17:42:42.510Z,1736358162.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.200253 target range: 38.099998 and range: 38.10 m.
2025-01-08T17:42:42.744Z,1736358162.744 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:42:42.744Z,1736358162.744 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:42:42.745Z,1736358162.745 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-01-08T17:42:42.920Z,1736358162.920 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:42.926Z,1736358162.926 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-01-08T17:42:42.926Z,1736358162.926 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-01-08T17:42:42.926Z,1736358162.926 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-01-08T17:42:42.926Z,1736358162.926 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-01-08T17:42:42.929Z,1736358162.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-01-08T17:42:42.932Z,1736358162.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 36.486176 m,
      bearing: 117.451999 deg,
      approach rate: -0.775554 m/s,
      LOS rate: 0.016850 deg/s,
      cmd heading: 126.065184 deg,
      new cmd heading: 126.086763 deg.

2025-01-08T17:42:42.933Z,1736358162.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.200629 target range: 38.099998 and range: 38.10 m.
2025-01-08T17:42:43.001Z,1736358163.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975629
2025-01-08T17:42:43.248Z,1736358163.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223797
2025-01-08T17:42:43.359Z,1736358163.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:43.368Z,1736358163.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-01-08T17:42:43.371Z,1736358163.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 36.136715 m,
      bearing: 117.459194 deg,
      approach rate: -0.795610 m/s,
      LOS rate: 0.016541 deg/s,
      cmd heading: 126.086767 deg,
      new cmd heading: 126.108563 deg.

2025-01-08T17:42:43.372Z,1736358163.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201010 target range: 38.099998 and range: 38.10 m.
2025-01-08T17:42:43.501Z,1736358163.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476120
2025-01-08T17:42:43.715Z,1736358163.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:43.724Z,1736358163.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-01-08T17:42:43.727Z,1736358163.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 35.861076 m,
      bearing: 117.465785 deg,
      approach rate: -0.775968 m/s,
      LOS rate: 0.018697 deg/s,
      cmd heading: 126.108569 deg,
      new cmd heading: 126.128494 deg.

2025-01-08T17:42:43.748Z,1736358163.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201358 target range: 38.099998 and range: 38.10 m.
2025-01-08T17:42:43.752Z,1736358163.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727836
2025-01-08T17:42:44.009Z,1736358164.009 [DAT](INFO): DAT read: Rx Time:17:42:42.7958

2025-01-08T17:42:44.011Z,1736358164.011 [DAT](INFO): Rx dataTimestamp_ set to:1736358164.009650
2025-01-08T17:42:44.014Z,1736358164.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988559
2025-01-08T17:42:44.147Z,1736358164.147 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:44.184Z,1736358164.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-01-08T17:42:44.187Z,1736358164.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 35.530628 m,
      bearing: 117.463969 deg,
      approach rate: -0.718687 m/s,
      LOS rate: -0.003988 deg/s,
      cmd heading: 126.128500 deg,
      new cmd heading: 126.122999 deg.

2025-01-08T17:42:44.188Z,1736358164.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201262 target range: 38.099998 and range: 38.10 m.
2025-01-08T17:42:44.258Z,1736358164.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232994
2025-01-08T17:42:44.537Z,1736358164.537 [DAT](INFO): DAT read: 17:42:42.7958 LVL= 21152, 28561, 18322, 30355, AGC= 61, IDX= 407,-0.25,-1.786, 3.091,-1.563,-2.063, PHS= 0.366,-1.082, 0.497, RAW= 154.3,   2.9, CAL= 156.2,  -6.0, ROT= 353.8,   6.0

2025-01-08T17:42:44.538Z,1736358164.538 [DAT](INFO): got valid direction response:
 17:42:42.7958 LVL= 21152, 28561, 18322, 30355, AGC= 61, IDX= 407,-0.25,-1.786, 3.091,-1.563,-2.063, PHS= 0.366,-1.082, 0.497, RAW= 154.3,   2.9, CAL= 156.2,  -6.0, ROT= 353.8,   6.0

2025-01-08T17:42:44.539Z,1736358164.539 [DAT](INFO): DAT read: Bearing 353.8,   6.0 (Local)

2025-01-08T17:42:44.547Z,1736358164.547 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.8,   6.0 (Local)

2025-01-08T17:42:44.549Z,1736358164.549 [DAT](INFO): DAT read: Range 10 to 50 : 35.9 m  (Round-trip  47.9 ms) speed  0.6 m/s

2025-01-08T17:42:44.550Z,1736358164.550 [DAT](INFO): DAT read: user:335>

2025-01-08T17:42:44.550Z,1736358164.550 [DAT](INFO): DAT read: Tx time:17:42:43.8937

2025-01-08T17:42:44.551Z,1736358164.551 [DAT](INFO): Ping request sent.
2025-01-08T17:42:44.551Z,1736358164.551 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:42:44.555Z,1736358164.555 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:42:44.556Z,1736358164.556 [DAT](INFO): direction in FSK: [0.988705,-0.107408,-0.104528]
2025-01-08T17:42:44.557Z,1736358164.557 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:44.558Z,1736358164.558 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:44.564Z,1736358164.564 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:44.569Z,1736358164.569 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:44.569Z,1736358164.569 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:44.577Z,1736358164.577 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.026136
2025-01-08T17:42:44.610Z,1736358164.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.900002 m,
      deltaT: 3.527994 s,
      deltaX: -2.199997 m,
      approachRate: -0.623583 m/s,
      rangeRepo size: 4

2025-01-08T17:42:44.617Z,1736358164.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.900002 m,
      bearing: 121.651562 deg,
      lat: 36.904182 deg,
      lon: -122.119042 deg,
      deltaT: 3.527994 s,
      deltaX: -2.199997 m,
      approachRate: -0.623583 m/s,
      posRepo size: 4

2025-01-08T17:42:44.617Z,1736358164.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m.
2025-01-08T17:42:44.625Z,1736358164.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.900002 m,
      nav range: 34.963314 m,
      bearing: 118.171055 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003988 deg/s,
      cmd heading: 126.122995 deg,
      new cmd heading: 126.117889 deg.

2025-01-08T17:42:44.633Z,1736358164.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201172 target range: 35.900002 and range: 35.90 m.
2025-01-08T17:42:44.761Z,1736358164.761 [DAT](INFO): DAT read: TxSync time:17:42:43.8929

2025-01-08T17:42:44.761Z,1736358164.761 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.210578
2025-01-08T17:42:44.981Z,1736358164.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:45.016Z,1736358165.016 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.464208
2025-01-08T17:42:45.059Z,1736358165.059 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:45.065Z,1736358165.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m.
2025-01-08T17:42:45.071Z,1736358165.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.900002 m,
      nav range: 34.644772 m,
      bearing: 118.175897 deg,
      approach rate: -0.699667 m/s,
      LOS rate: 0.010733 deg/s,
      cmd heading: 126.117886 deg,
      new cmd heading: 126.132546 deg.

2025-01-08T17:42:45.080Z,1736358165.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201428 target range: 35.900002 and range: 35.90 m.
2025-01-08T17:42:45.266Z,1736358165.266 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.714815
2025-01-08T17:42:45.425Z,1736358165.425 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:45.510Z,1736358165.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m.
2025-01-08T17:42:45.516Z,1736358165.516 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.965495
2025-01-08T17:42:45.569Z,1736358165.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.900002 m,
      nav range: 34.320499 m,
      bearing: 118.181319 deg,
      approach rate: -0.728561 m/s,
      LOS rate: 0.012298 deg/s,
      cmd heading: 126.132543 deg,
      new cmd heading: 126.148964 deg.

2025-01-08T17:42:45.570Z,1736358165.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201715 target range: 35.900002 and range: 35.90 m.
2025-01-08T17:42:45.769Z,1736358165.769 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.217905
2025-01-08T17:42:45.843Z,1736358165.843 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:45.852Z,1736358165.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m.
2025-01-08T17:42:45.854Z,1736358165.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.900002 m,
      nav range: 34.014633 m,
      bearing: 118.186529 deg,
      approach rate: -0.894979 m/s,
      LOS rate: 0.015380 deg/s,
      cmd heading: 126.148963 deg,
      new cmd heading: 126.164732 deg.

2025-01-08T17:42:45.856Z,1736358165.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201990 target range: 35.900002 and range: 35.90 m.
2025-01-08T17:42:46.023Z,1736358166.023 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.471748
2025-01-08T17:42:46.272Z,1736358166.272 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.721481
2025-01-08T17:42:46.284Z,1736358166.284 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:46.294Z,1736358166.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m.
2025-01-08T17:42:46.297Z,1736358166.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.900002 m,
      nav range: 33.709484 m,
      bearing: 118.183701 deg,
      approach rate: -0.689465 m/s,
      LOS rate: -0.006447 deg/s,
      cmd heading: 126.164727 deg,
      new cmd heading: 126.156167 deg.

2025-01-08T17:42:46.298Z,1736358166.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201840 target range: 35.900002 and range: 35.90 m.
2025-01-08T17:42:46.525Z,1736358166.525 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.974188
2025-01-08T17:42:46.649Z,1736358166.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:46.660Z,1736358166.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m.
2025-01-08T17:42:46.664Z,1736358166.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.900002 m,
      nav range: 33.457352 m,
      bearing: 118.182365 deg,
      approach rate: -0.691109 m/s,
      LOS rate: -0.003690 deg/s,
      cmd heading: 126.156162 deg,
      new cmd heading: 126.152123 deg.

2025-01-08T17:42:46.666Z,1736358166.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201770 target range: 35.900002 and range: 35.90 m.
2025-01-08T17:42:46.777Z,1736358166.777 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.226040
2025-01-08T17:42:47.038Z,1736358167.038 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.480216
2025-01-08T17:42:47.132Z,1736358167.132 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:47.139Z,1736358167.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:47.142Z,1736358167.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m.
2025-01-08T17:42:47.145Z,1736358167.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.900002 m,
      nav range: 33.145161 m,
      bearing: 118.163377 deg,
      approach rate: -0.646619 m/s,
      LOS rate: -0.039698 deg/s,
      cmd heading: 126.152119 deg,
      new cmd heading: 126.094619 deg.

2025-01-08T17:42:47.146Z,1736358167.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.200766 target range: 35.900002 and range: 35.90 m.
2025-01-08T17:42:47.281Z,1736358167.281 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.729382
2025-01-08T17:42:47.449Z,1736358167.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:47.502Z,1736358167.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m.
2025-01-08T17:42:47.505Z,1736358167.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.900002 m,
      nav range: 32.940742 m,
      bearing: 118.151548 deg,
      approach rate: -0.568458 m/s,
      LOS rate: -0.033100 deg/s,
      cmd heading: 126.094622 deg,
      new cmd heading: 126.058913 deg.

2025-01-08T17:42:47.506Z,1736358167.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.200143 target range: 35.900002 and range: 35.90 m.
2025-01-08T17:42:47.532Z,1736358167.532 [DAT](INFO): DAT read: Rx Time:17:42:46.3424

2025-01-08T17:42:47.533Z,1736358167.533 [DAT](INFO): Rx dataTimestamp_ set to:1736358167.532611
2025-01-08T17:42:47.533Z,1736358167.533 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.982571
2025-01-08T17:42:47.789Z,1736358167.789 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.237782
2025-01-08T17:42:47.854Z,1736358167.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:47.871Z,1736358167.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m.
2025-01-08T17:42:47.873Z,1736358167.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.900002 m,
      nav range: 32.678684 m,
      bearing: 118.137203 deg,
      approach rate: -0.710347 m/s,
      LOS rate: -0.039196 deg/s,
      cmd heading: 126.058914 deg,
      new cmd heading: 126.015534 deg.

2025-01-08T17:42:47.874Z,1736358167.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.199386 target range: 35.900002 and range: 35.90 m.
2025-01-08T17:42:48.074Z,1736358168.074 [DAT](INFO): DAT read: 17:42:46.3424 LVL= 18848, 22321, 16194, 27299, AGC= 57, IDX= 403, 0.23,-1.945, 2.943,-1.813,-2.268, PHS= 0.411,-1.025, 0.452, RAW= 151.4,   2.2, CAL= 153.8,  -6.6, ROT= 356.2,   6.6

2025-01-08T17:42:48.091Z,1736358168.091 [DAT](INFO): got valid direction response:
 17:42:46.3424 LVL= 18848, 22321, 16194, 27299, AGC= 57, IDX= 403, 0.23,-1.945, 2.943,-1.813,-2.268, PHS= 0.411,-1.025, 0.452, RAW= 151.4,   2.2, CAL= 153.8,  -6.6, ROT= 356.2,   6.6

2025-01-08T17:42:48.124Z,1736358168.124 [DAT](INFO): DAT read: Bearing 356.2,   6.6 (Local)

2025-01-08T17:42:48.124Z,1736358168.124 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.2,   6.6 (Local)

2025-01-08T17:42:48.126Z,1736358168.126 [DAT](INFO): DAT read: Range 10 to 50 : 33.3 m  (Round-trip  44.5 ms) speed  0.7 m/s

2025-01-08T17:42:48.127Z,1736358168.127 [DAT](INFO): DAT read: user:336>

2025-01-08T17:42:48.137Z,1736358168.137 [DAT](INFO): DAT read: Tx time:17:42:47.4438

2025-01-08T17:42:48.137Z,1736358168.137 [DAT](INFO): Ping request sent.
2025-01-08T17:42:48.137Z,1736358168.137 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:42:48.138Z,1736358168.138 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-01-08T17:42:48.139Z,1736358168.139 [DAT](INFO): direction in FSK: [0.991189,-0.065834,-0.114937]
2025-01-08T17:42:48.139Z,1736358168.139 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:48.146Z,1736358168.146 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:48.162Z,1736358168.162 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:48.162Z,1736358168.162 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:48.170Z,1736358168.170 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.032118
2025-01-08T17:42:48.292Z,1736358168.292 [DAT](INFO): DAT read: TxSync time:17:42:47.4430

2025-01-08T17:42:48.293Z,1736358168.293 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.155867
2025-01-08T17:42:48.312Z,1736358168.312 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:48.347Z,1736358168.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.299999 m,
      deltaT: 3.532260 s,
      deltaX: -2.600002 m,
      approachRate: -0.736073 m/s,
      rangeRepo size: 4

2025-01-08T17:42:48.349Z,1736358168.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.299999 m,
      bearing: 123.632717 deg,
      lat: 36.904175 deg,
      lon: -122.119042 deg,
      deltaT: 3.532260 s,
      deltaX: -2.600002 m,
      approachRate: -0.736073 m/s,
      posRepo size: 4

2025-01-08T17:42:48.350Z,1736358168.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.30 m.
2025-01-08T17:42:48.358Z,1736358168.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.299999 m,
      nav range: 32.703041 m,
      bearing: 119.272066 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.039196 deg/s,
      cmd heading: 126.015529 deg,
      new cmd heading: 125.960043 deg.

2025-01-08T17:42:48.359Z,1736358168.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.198417 target range: 33.299999 and range: 33.30 m.
2025-01-08T17:42:48.544Z,1736358168.544 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.406869
2025-01-08T17:42:48.674Z,1736358168.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:48.690Z,1736358168.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.30 m.
2025-01-08T17:42:48.694Z,1736358168.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.299999 m,
      nav range: 32.481110 m,
      bearing: 119.261888 deg,
      approach rate: -0.639410 m/s,
      LOS rate: -0.029525 deg/s,
      cmd heading: 125.960040 deg,
      new cmd heading: 125.929297 deg.

2025-01-08T17:42:48.696Z,1736358168.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.197881 target range: 33.299999 and range: 33.30 m.
2025-01-08T17:42:48.797Z,1736358168.797 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.659903
2025-01-08T17:42:49.051Z,1736358169.051 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.913351
2025-01-08T17:42:49.156Z,1736358169.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:49.181Z,1736358169.181 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:49.183Z,1736358169.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.30 m.
2025-01-08T17:42:49.190Z,1736358169.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.299999 m,
      nav range: 32.211075 m,
      bearing: 119.238073 deg,
      approach rate: -0.547728 m/s,
      LOS rate: -0.048709 deg/s,
      cmd heading: 125.929291 deg,
      new cmd heading: 125.857248 deg.

2025-01-08T17:42:49.196Z,1736358169.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.196623 target range: 33.299999 and range: 33.30 m.
2025-01-08T17:42:49.301Z,1736358169.301 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.163221
2025-01-08T17:42:49.532Z,1736358169.532 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:49.552Z,1736358169.552 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.415020
2025-01-08T17:42:49.564Z,1736358169.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.30 m.
2025-01-08T17:42:49.566Z,1736358169.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.299999 m,
      nav range: 32.000458 m,
      bearing: 119.219220 deg,
      approach rate: -0.552894 m/s,
      LOS rate: -0.049818 deg/s,
      cmd heading: 125.857246 deg,
      new cmd heading: 125.800313 deg.

2025-01-08T17:42:49.568Z,1736358169.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.195630 target range: 33.299999 and range: 33.30 m.
2025-01-08T17:42:49.805Z,1736358169.805 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.667191
2025-01-08T17:42:49.896Z,1736358169.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:49.906Z,1736358169.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.30 m.
2025-01-08T17:42:49.925Z,1736358169.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.299999 m,
      nav range: 31.797577 m,
      bearing: 119.202105 deg,
      approach rate: -0.591810 m/s,
      LOS rate: -0.050244 deg/s,
      cmd heading: 125.800309 deg,
      new cmd heading: 125.748637 deg.

2025-01-08T17:42:49.926Z,1736358169.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.194728 target range: 33.299999 and range: 33.30 m.
2025-01-08T17:42:50.059Z,1736358170.059 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.920933
2025-01-08T17:42:50.302Z,1736358170.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:50.309Z,1736358170.309 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.171664
2025-01-08T17:42:50.340Z,1736358170.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.30 m.
2025-01-08T17:42:50.348Z,1736358170.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.299999 m,
      nav range: 31.574987 m,
      bearing: 119.176364 deg,
      approach rate: -0.518544 m/s,
      LOS rate: -0.060387 deg/s,
      cmd heading: 125.748632 deg,
      new cmd heading: 125.670867 deg.

2025-01-08T17:42:50.349Z,1736358170.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.193370 target range: 33.299999 and range: 33.30 m.
2025-01-08T17:42:50.560Z,1736358170.560 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.422925
2025-01-08T17:42:50.700Z,1736358170.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:50.710Z,1736358170.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.30 m.
2025-01-08T17:42:50.713Z,1736358170.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.299999 m,
      nav range: 31.356997 m,
      bearing: 119.151737 deg,
      approach rate: -0.582588 m/s,
      LOS rate: -0.066274 deg/s,
      cmd heading: 125.670864 deg,
      new cmd heading: 125.596469 deg.

2025-01-08T17:42:50.714Z,1736358170.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.192072 target range: 33.299999 and range: 33.30 m.
2025-01-08T17:42:50.813Z,1736358170.813 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.676083
2025-01-08T17:42:51.066Z,1736358171.066 [DAT](INFO): DAT read: Rx Time:17:42:49.8891

2025-01-08T17:42:51.066Z,1736358171.066 [DAT](INFO): Rx dataTimestamp_ set to:1736358171.066153
2025-01-08T17:42:51.068Z,1736358171.068 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.930357
2025-01-08T17:42:51.210Z,1736358171.210 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:51.234Z,1736358171.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:51.241Z,1736358171.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.30 m.
2025-01-08T17:42:51.248Z,1736358171.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.299999 m,
      nav range: 31.084095 m,
      bearing: 119.114095 deg,
      approach rate: -0.514416 m/s,
      LOS rate: -0.071579 deg/s,
      cmd heading: 125.596469 deg,
      new cmd heading: 125.482549 deg.

2025-01-08T17:42:51.249Z,1736358171.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.190084 target range: 33.299999 and range: 33.30 m.
2025-01-08T17:42:51.317Z,1736358171.317 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.179790
2025-01-08T17:42:51.571Z,1736358171.571 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.433083
2025-01-08T17:42:51.678Z,1736358171.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:51.725Z,1736358171.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.30 m.
2025-01-08T17:42:51.736Z,1736358171.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.299999 m,
      nav range: 30.833359 m,
      bearing: 119.080401 deg,
      approach rate: -0.516877 m/s,
      LOS rate: -0.070023 deg/s,
      cmd heading: 125.482555 deg,
      new cmd heading: 125.380652 deg.

2025-01-08T17:42:51.737Z,1736358171.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.188305 target range: 33.299999 and range: 33.30 m.
2025-01-08T17:42:51.828Z,1736358171.828 [DAT](INFO): DAT read: 17:42:49.8891 LVL= 15344, 27729, 15954, 25363, AGC= 57, IDX= 401, 0.15, 0.246,-1.211, 0.293,-0.118, PHS= 0.452,-1.046, 0.408, RAW= 148.5,   2.6, CAL= 151.2,  -6.3, ROT= 358.8,   6.3

2025-01-08T17:42:51.829Z,1736358171.829 [DAT](INFO): got valid direction response:
 17:42:49.8891 LVL= 15344, 27729, 15954, 25363, AGC= 57, IDX= 401, 0.15, 0.246,-1.211, 0.293,-0.118, PHS= 0.452,-1.046, 0.408, RAW= 148.5,   2.6, CAL= 151.2,  -6.3, ROT= 358.8,   6.3

2025-01-08T17:42:51.830Z,1736358171.830 [DAT](INFO): DAT read: Bearing 358.8,   6.3 (Local)

2025-01-08T17:42:51.830Z,1736358171.830 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.8,   6.3 (Local)

2025-01-08T17:42:51.832Z,1736358171.832 [DAT](INFO): DAT read: Range 10 to 50 : 30.9 m  (Round-trip  41.2 ms) speed  0.5 m/s

2025-01-08T17:42:51.833Z,1736358171.833 [DAT](INFO): DAT read: user:337>

2025-01-08T17:42:51.834Z,1736358171.834 [DAT](INFO): DAT read: Tx time:17:42:50.9938

2025-01-08T17:42:51.834Z,1736358171.834 [DAT](INFO): Ping request sent.
2025-01-08T17:42:51.834Z,1736358171.834 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:42:51.835Z,1736358171.835 [DAT](INFO): DAT read: TxSync time:17:42:50.9930

2025-01-08T17:42:51.835Z,1736358171.835 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-01-08T17:42:51.836Z,1736358171.836 [DAT](INFO): direction in FSK: [0.993743,-0.020816,-0.109734]
2025-01-08T17:42:51.837Z,1736358171.837 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:51.837Z,1736358171.837 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:51.843Z,1736358171.843 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:51.843Z,1736358171.843 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:51.880Z,1736358171.880 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.040906
2025-01-08T17:42:52.073Z,1736358172.073 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.238417
2025-01-08T17:42:52.173Z,1736358172.173 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:52.209Z,1736358172.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.900000 m,
      deltaT: 3.779304 s,
      deltaX: -2.400000 m,
      approachRate: -0.635037 m/s,
      rangeRepo size: 4

2025-01-08T17:42:52.216Z,1736358172.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.900000 m,
      bearing: 124.971798 deg,
      lat: 36.904161 deg,
      lon: -122.119046 deg,
      deltaT: 3.779304 s,
      deltaX: -2.400000 m,
      approachRate: -0.635037 m/s,
      posRepo size: 4

2025-01-08T17:42:52.217Z,1736358172.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.90 m.
2025-01-08T17:42:52.225Z,1736358172.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.900000 m,
      nav range: 31.085155 m,
      bearing: 121.818471 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.070023 deg/s,
      cmd heading: 125.380649 deg,
      new cmd heading: 125.279079 deg.

2025-01-08T17:42:52.226Z,1736358172.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.186532 target range: 30.900000 and range: 30.90 m.
2025-01-08T17:42:52.326Z,1736358172.326 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.491464
2025-01-08T17:42:52.576Z,1736358172.576 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.742326
2025-01-08T17:42:52.578Z,1736358172.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:52.616Z,1736358172.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.90 m.
2025-01-08T17:42:52.619Z,1736358172.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.900000 m,
      nav range: 30.860580 m,
      bearing: 121.816940 deg,
      approach rate: -0.551726 m/s,
      LOS rate: -0.003789 deg/s,
      cmd heading: 125.279084 deg,
      new cmd heading: 125.274457 deg.

2025-01-08T17:42:52.624Z,1736358172.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.186452 target range: 30.900000 and range: 30.90 m.
2025-01-08T17:42:52.831Z,1736358172.831 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.997317
2025-01-08T17:42:52.941Z,1736358172.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:52.950Z,1736358172.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.90 m.
2025-01-08T17:42:52.980Z,1736358172.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.900000 m,
      nav range: 30.659931 m,
      bearing: 121.815772 deg,
      approach rate: -0.599906 m/s,
      LOS rate: -0.003515 deg/s,
      cmd heading: 125.274453 deg,
      new cmd heading: 125.270927 deg.

2025-01-08T17:42:52.980Z,1736358172.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.186390 target range: 30.900000 and range: 30.90 m.
2025-01-08T17:42:53.081Z,1736358173.081 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.246576
2025-01-08T17:42:53.332Z,1736358173.332 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.498265
2025-01-08T17:42:53.349Z,1736358173.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:53.356Z,1736358173.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:53.359Z,1736358173.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.90 m.
2025-01-08T17:42:53.362Z,1736358173.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.900000 m,
      nav range: 30.423756 m,
      bearing: 121.818190 deg,
      approach rate: -0.578385 m/s,
      LOS rate: 0.005967 deg/s,
      cmd heading: 125.270929 deg,
      new cmd heading: 125.278239 deg.

2025-01-08T17:42:53.364Z,1736358173.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.186518 target range: 30.900000 and range: 30.90 m.
2025-01-08T17:42:53.584Z,1736358173.584 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.750093
2025-01-08T17:42:53.741Z,1736358173.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:53.750Z,1736358173.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.90 m.
2025-01-08T17:42:53.753Z,1736358173.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.900000 m,
      nav range: 30.196011 m,
      bearing: 121.820557 deg,
      approach rate: -0.581799 m/s,
      LOS rate: 0.006093 deg/s,
      cmd heading: 125.278237 deg,
      new cmd heading: 125.285393 deg.

2025-01-08T17:42:53.754Z,1736358173.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.186643 target range: 30.900000 and range: 30.90 m.
2025-01-08T17:42:53.836Z,1736358173.836 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.002309
2025-01-08T17:42:54.089Z,1736358174.089 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.255030
2025-01-08T17:42:54.158Z,1736358174.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:54.215Z,1736358174.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.90 m.
2025-01-08T17:42:54.222Z,1736358174.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.900000 m,
      nav range: 29.955273 m,
      bearing: 121.825028 deg,
      approach rate: -0.518211 m/s,
      LOS rate: 0.009701 deg/s,
      cmd heading: 125.285395 deg,
      new cmd heading: 125.298915 deg.

2025-01-08T17:42:54.222Z,1736358174.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.186879 target range: 30.900000 and range: 30.90 m.
2025-01-08T17:42:54.341Z,1736358174.341 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.506351
2025-01-08T17:42:54.569Z,1736358174.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:54.579Z,1736358174.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.90 m.
2025-01-08T17:42:54.582Z,1736358174.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.900000 m,
      nav range: 29.705849 m,
      bearing: 121.847264 deg,
      approach rate: -0.684712 m/s,
      LOS rate: 0.061554 deg/s,
      cmd heading: 125.298919 deg,
      new cmd heading: 125.366187 deg.

2025-01-08T17:42:54.583Z,1736358174.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.188053 target range: 30.900000 and range: 30.90 m.
2025-01-08T17:42:54.592Z,1736358174.592 [DAT](INFO): DAT read: Rx Time:17:42:53.4363

2025-01-08T17:42:54.593Z,1736358174.593 [DAT](INFO): Rx dataTimestamp_ set to:1736358174.592598
2025-01-08T17:42:54.593Z,1736358174.593 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.759351
2025-01-08T17:42:54.844Z,1736358174.844 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.010281
2025-01-08T17:42:54.945Z,1736358174.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:54.954Z,1736358174.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.90 m.
2025-01-08T17:42:54.958Z,1736358174.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.900000 m,
      nav range: 29.478643 m,
      bearing: 121.868253 deg,
      approach rate: -0.605861 m/s,
      LOS rate: 0.056399 deg/s,
      cmd heading: 125.366182 deg,
      new cmd heading: 125.429634 deg.

2025-01-08T17:42:54.959Z,1736358174.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.189160 target range: 30.900000 and range: 30.90 m.
2025-01-08T17:42:55.106Z,1736358175.106 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.264407
2025-01-08T17:42:55.362Z,1736358175.362 [DAT](INFO): DAT read: 17:42:53.4363 LVL= 16656, 27873, 16514, 27603, AGC= 56, IDX= 404, 0.08,-1.777, 3.097,-1.738,-2.130, PHS= 0.441,-1.009, 0.389, RAW= 148.2,   2.5, CAL= 150.9,  -6.3, ROT= 359.1,   6.3

2025-01-08T17:42:55.366Z,1736358175.366 [DAT](INFO): got valid direction response:
 17:42:53.4363 LVL= 16656, 27873, 16514, 27603, AGC= 56, IDX= 404, 0.08,-1.777, 3.097,-1.738,-2.130, PHS= 0.441,-1.009, 0.389, RAW= 148.2,   2.5, CAL= 150.9,  -6.3, ROT= 359.1,   6.3

2025-01-08T17:42:55.367Z,1736358175.367 [DAT](INFO): DAT read: Bearing 359.1,   6.3 (Local)

2025-01-08T17:42:55.370Z,1736358175.370 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.1,   6.3 (Local)

2025-01-08T17:42:55.372Z,1736358175.372 [DAT](INFO): DAT read: Range 10 to 50 : 28.7 m  (Round-trip  38.3 ms) speed  0.4 m/s

2025-01-08T17:42:55.373Z,1736358175.373 [DAT](INFO): DAT read: user:338>

2025-01-08T17:42:55.374Z,1736358175.374 [DAT](INFO): DAT read: Tx time:17:42:54.5438

2025-01-08T17:42:55.374Z,1736358175.374 [DAT](INFO): Ping request sent.
2025-01-08T17:42:55.374Z,1736358175.374 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:42:55.424Z,1736358175.424 [DAT](INFO): DAT read: TxSync time:17:42:54.5430

2025-01-08T17:42:55.424Z,1736358175.424 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-01-08T17:42:55.425Z,1736358175.425 [DAT](INFO): direction in FSK: [0.993838,-0.015612,-0.109734]
2025-01-08T17:42:55.426Z,1736358175.426 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:55.426Z,1736358175.426 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:55.437Z,1736358175.437 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:55.437Z,1736358175.437 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:55.449Z,1736358175.449 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.074271
2025-01-08T17:42:55.473Z,1736358175.473 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:55.520Z,1736358175.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.700001 m,
      deltaT: 3.530770 s,
      deltaX: -2.199999 m,
      approachRate: -0.623093 m/s,
      rangeRepo size: 4

2025-01-08T17:42:55.529Z,1736358175.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.700001 m,
      bearing: 124.837465 deg,
      lat: 36.904154 deg,
      lon: -122.119052 deg,
      deltaT: 3.530770 s,
      deltaX: -2.199999 m,
      approachRate: -0.623093 m/s,
      posRepo size: 4

2025-01-08T17:42:55.530Z,1736358175.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.70 m.
2025-01-08T17:42:55.544Z,1736358175.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.700001 m,
      nav range: 29.110199 m,
      bearing: 123.922168 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.056399 deg/s,
      cmd heading: 125.429635 deg,
      new cmd heading: 125.524237 deg.

2025-01-08T17:42:55.545Z,1736358175.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.190811 target range: 28.700001 and range: 28.70 m.
2025-01-08T17:42:55.608Z,1736358175.608 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.233467
2025-01-08T17:42:55.834Z,1736358175.834 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:55.850Z,1736358175.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:55.857Z,1736358175.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.70 m.
2025-01-08T17:42:55.860Z,1736358175.860 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.485875
2025-01-08T17:42:55.864Z,1736358175.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.700001 m,
      nav range: 28.881592 m,
      bearing: 123.963130 deg,
      approach rate: -0.665630 m/s,
      LOS rate: 0.120211 deg/s,
      cmd heading: 125.524233 deg,
      new cmd heading: 125.648091 deg.

2025-01-08T17:42:55.865Z,1736358175.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.192973 target range: 28.700001 and range: 28.70 m.
2025-01-08T17:42:56.112Z,1736358176.112 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.737870
2025-01-08T17:42:56.271Z,1736358176.271 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:56.281Z,1736358176.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.70 m.
2025-01-08T17:42:56.284Z,1736358176.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.700001 m,
      nav range: 28.590878 m,
      bearing: 124.031167 deg,
      approach rate: -0.685354 m/s,
      LOS rate: 0.162027 deg/s,
      cmd heading: 125.648092 deg,
      new cmd heading: 125.854277 deg.

2025-01-08T17:42:56.285Z,1736358176.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.196572 target range: 28.700001 and range: 28.70 m.
2025-01-08T17:42:56.367Z,1736358176.367 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.991866
2025-01-08T17:42:56.616Z,1736358176.616 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.241857
2025-01-08T17:42:56.629Z,1736358176.629 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:56.661Z,1736358176.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.70 m.
2025-01-08T17:42:56.671Z,1736358176.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.700001 m,
      nav range: 28.352242 m,
      bearing: 124.086256 deg,
      approach rate: -0.627555 m/s,
      LOS rate: 0.146091 deg/s,
      cmd heading: 125.854281 deg,
      new cmd heading: 126.020940 deg.

2025-01-08T17:42:56.676Z,1736358176.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.199480 target range: 28.700001 and range: 28.70 m.
2025-01-08T17:42:56.871Z,1736358176.871 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.496789
2025-01-08T17:42:57.030Z,1736358177.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:57.060Z,1736358177.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.70 m.
2025-01-08T17:42:57.070Z,1736358177.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.700001 m,
      nav range: 28.084375 m,
      bearing: 124.149214 deg,
      approach rate: -0.679482 m/s,
      LOS rate: 0.161224 deg/s,
      cmd heading: 126.020938 deg,
      new cmd heading: 126.211611 deg.

2025-01-08T17:42:57.071Z,1736358177.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.202808 target range: 28.700001 and range: 28.70 m.
2025-01-08T17:42:57.121Z,1736358177.121 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.746060
2025-01-08T17:42:57.372Z,1736358177.372 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.997763
2025-01-08T17:42:57.479Z,1736358177.479 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:57.488Z,1736358177.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.70 m.
2025-01-08T17:42:57.491Z,1736358177.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.700001 m,
      nav range: 27.775270 m,
      bearing: 124.239942 deg,
      approach rate: -0.715262 m/s,
      LOS rate: 0.212279 deg/s,
      cmd heading: 126.211610 deg,
      new cmd heading: 126.486821 deg.

2025-01-08T17:42:57.492Z,1736358177.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.207612 target range: 28.700001 and range: 28.70 m.
2025-01-08T17:42:57.626Z,1736358177.626 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.251093
2025-01-08T17:42:57.836Z,1736358177.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:57.845Z,1736358177.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.70 m.
2025-01-08T17:42:57.848Z,1736358177.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.700001 m,
      nav range: 27.529387 m,
      bearing: 124.313547 deg,
      approach rate: -0.686614 m/s,
      LOS rate: 0.207372 deg/s,
      cmd heading: 126.486825 deg,
      new cmd heading: 126.709611 deg.

2025-01-08T17:42:57.849Z,1736358177.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.211500 target range: 28.700001 and range: 28.70 m.
2025-01-08T17:42:57.876Z,1736358177.876 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.501985
2025-01-08T17:42:58.130Z,1736358178.130 [DAT](INFO): DAT read: Rx Time:17:42:56.9835

2025-01-08T17:42:58.132Z,1736358178.132 [DAT](INFO): Rx dataTimestamp_ set to:1736358178.130660
2025-01-08T17:42:58.132Z,1736358178.132 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.757823
2025-01-08T17:42:58.311Z,1736358178.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:58.318Z,1736358178.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:42:58.320Z,1736358178.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.70 m.
2025-01-08T17:42:58.323Z,1736358178.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.700001 m,
      nav range: 27.186996 m,
      bearing: 124.420622 deg,
      approach rate: -0.721400 m/s,
      LOS rate: 0.228443 deg/s,
      cmd heading: 126.709612 deg,
      new cmd heading: 127.034879 deg.

2025-01-08T17:42:58.324Z,1736358178.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.217177 target range: 28.700001 and range: 28.70 m.
2025-01-08T17:42:58.381Z,1736358178.381 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.006633
2025-01-08T17:42:58.632Z,1736358178.632 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.257766
2025-01-08T17:42:58.680Z,1736358178.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:58.726Z,1736358178.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.70 m.
2025-01-08T17:42:58.734Z,1736358178.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.700001 m,
      nav range: 26.922083 m,
      bearing: 124.504155 deg,
      approach rate: -0.652201 m/s,
      LOS rate: 0.207677 deg/s,
      cmd heading: 127.034880 deg,
      new cmd heading: 127.287943 deg.

2025-01-08T17:42:58.740Z,1736358178.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.221594 target range: 28.700001 and range: 28.70 m.
2025-01-08T17:42:58.891Z,1736358178.891 [DAT](INFO): DAT read: 17:42:56.9836 LVL= 19008, 32753, 19650, 32755, AGC= 56, IDX= 409,-0.35, 0.527,-0.822, 0.613, 0.204, PHS= 0.411,-0.979, 0.406, RAW= 149.8,   2.4, CAL= 152.3,  -6.5, ROT= 357.7,   6.5

2025-01-08T17:42:58.894Z,1736358178.894 [DAT](INFO): got valid direction response:
 17:42:56.9836 LVL= 19008, 32753, 19650, 32755, AGC= 56, IDX= 409,-0.35, 0.527,-0.822, 0.613, 0.204, PHS= 0.411,-0.979, 0.406, RAW= 149.8,   2.4, CAL= 152.3,  -6.5, ROT= 357.7,   6.5

2025-01-08T17:42:58.900Z,1736358178.900 [DAT](INFO): DAT read: Bearing 357.7,   6.5 (Local)

2025-01-08T17:42:58.900Z,1736358178.900 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.7,   6.5 (Local)

2025-01-08T17:42:58.903Z,1736358178.903 [DAT](INFO): DAT read: Range 10 to 50 : 26.7 m  (Round-trip  35.6 ms) speed  0.5 m/s

2025-01-08T17:42:58.913Z,1736358178.913 [DAT](INFO): DAT read: user:339>

2025-01-08T17:42:58.914Z,1736358178.914 [DAT](INFO): DAT read: Tx time:17:42:58.0939

2025-01-08T17:42:58.915Z,1736358178.915 [DAT](INFO): Ping request sent.
2025-01-08T17:42:58.915Z,1736358178.915 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:42:58.917Z,1736358178.917 [DAT](INFO): DAT read: TxSync time:17:42:58.0931

2025-01-08T17:42:58.919Z,1736358178.919 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-01-08T17:42:58.921Z,1736358178.921 [DAT](INFO): direction in FSK: [0.992771,-0.039874,-0.113203]
2025-01-08T17:42:58.922Z,1736358178.922 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:58.922Z,1736358178.922 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:58.934Z,1736358178.934 [DAT](INFO): publishing transmit ping time
2025-01-08T17:42:58.934Z,1736358178.934 [DAT](INFO): publishing direction and range info
2025-01-08T17:42:58.948Z,1736358178.948 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.032994
2025-01-08T17:42:59.082Z,1736358179.082 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:59.136Z,1736358179.136 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.221714
2025-01-08T17:42:59.137Z,1736358179.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.700001 m,
      deltaT: 3.532142 s,
      deltaX: -2.000000 m,
      approachRate: -0.566229 m/s,
      rangeRepo size: 4

2025-01-08T17:42:59.144Z,1736358179.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.700001 m,
      bearing: 124.343220 deg,
      lat: 36.904154 deg,
      lon: -122.119052 deg,
      deltaT: 3.532142 s,
      deltaX: -2.000000 m,
      approachRate: -0.566229 m/s,
      posRepo size: 4

2025-01-08T17:42:59.147Z,1736358179.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-01-08T17:42:59.158Z,1736358179.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.700001 m,
      nav range: 26.631392 m,
      bearing: 124.595562 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.207677 deg/s,
      cmd heading: 127.287938 deg,
      new cmd heading: 127.540182 deg.

2025-01-08T17:42:59.159Z,1736358179.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.225996 target range: 26.700001 and range: 26.70 m.
2025-01-08T17:42:59.390Z,1736358179.390 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.475132
2025-01-08T17:42:59.480Z,1736358179.480 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:59.505Z,1736358179.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-01-08T17:42:59.513Z,1736358179.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.700001 m,
      nav range: 26.335760 m,
      bearing: 124.691548 deg,
      approach rate: -0.789970 m/s,
      LOS rate: 0.259370 deg/s,
      cmd heading: 127.540177 deg,
      new cmd heading: 127.831367 deg.

2025-01-08T17:42:59.514Z,1736358179.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.231078 target range: 26.700001 and range: 26.70 m.
2025-01-08T17:42:59.641Z,1736358179.641 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.726404
2025-01-08T17:42:59.892Z,1736358179.892 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.977692
2025-01-08T17:42:59.977Z,1736358179.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:42:59.988Z,1736358179.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-01-08T17:42:59.992Z,1736358179.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.700001 m,
      nav range: 25.966877 m,
      bearing: 124.814420 deg,
      approach rate: -0.765067 m/s,
      LOS rate: 0.258457 deg/s,
      cmd heading: 127.831362 deg,
      new cmd heading: 128.205207 deg.

2025-01-08T17:42:59.993Z,1736358179.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.237603 target range: 26.700001 and range: 26.70 m.
2025-01-08T17:43:00.144Z,1736358180.144 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.229763
2025-01-08T17:43:00.377Z,1736358180.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:00.384Z,1736358180.384 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:00.386Z,1736358180.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-01-08T17:43:00.396Z,1736358180.396 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.481624
2025-01-08T17:43:00.413Z,1736358180.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.700001 m,
      nav range: 25.670225 m,
      bearing: 124.897628 deg,
      approach rate: -0.744750 m/s,
      LOS rate: 0.211309 deg/s,
      cmd heading: 128.205205 deg,
      new cmd heading: 128.457712 deg.

2025-01-08T17:43:00.414Z,1736358180.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.242010 target range: 26.700001 and range: 26.70 m.
2025-01-08T17:43:00.649Z,1736358180.649 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.734349
2025-01-08T17:43:00.845Z,1736358180.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:00.854Z,1736358180.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-01-08T17:43:00.858Z,1736358180.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.700001 m,
      nav range: 25.322418 m,
      bearing: 124.994470 deg,
      approach rate: -0.743258 m/s,
      LOS rate: 0.209792 deg/s,
      cmd heading: 128.457717 deg,
      new cmd heading: 128.752230 deg.

2025-01-08T17:43:00.859Z,1736358180.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.247150 target range: 26.700001 and range: 26.70 m.
2025-01-08T17:43:00.901Z,1736358180.901 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.986142
2025-01-08T17:43:01.154Z,1736358181.154 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.239123
2025-01-08T17:43:01.301Z,1736358181.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:01.310Z,1736358181.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-01-08T17:43:01.329Z,1736358181.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.700001 m,
      nav range: 24.983452 m,
      bearing: 125.088529 deg,
      approach rate: -0.742179 m/s,
      LOS rate: 0.208740 deg/s,
      cmd heading: 128.752235 deg,
      new cmd heading: 129.038238 deg.

2025-01-08T17:43:01.330Z,1736358181.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.252142 target range: 26.700001 and range: 26.70 m.
2025-01-08T17:43:01.406Z,1736358181.406 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.490683
2025-01-08T17:43:01.657Z,1736358181.657 [DAT](INFO): DAT read: Rx Time:17:43:00.5305

2025-01-08T17:43:01.657Z,1736358181.657 [DAT](INFO): Rx dataTimestamp_ set to:1736358181.656831
2025-01-08T17:43:01.658Z,1736358181.658 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.743417
2025-01-08T17:43:01.725Z,1736358181.725 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:01.734Z,1736358181.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-01-08T17:43:01.737Z,1736358181.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.700001 m,
      nav range: 24.671980 m,
      bearing: 125.168437 deg,
      approach rate: -0.735612 m/s,
      LOS rate: 0.191104 deg/s,
      cmd heading: 129.038242 deg,
      new cmd heading: 129.280992 deg.

2025-01-08T17:43:01.738Z,1736358181.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.256379 target range: 26.700001 and range: 26.70 m.
2025-01-08T17:43:01.908Z,1736358181.908 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.993843
2025-01-08T17:43:02.057Z,1736358182.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:02.078Z,1736358182.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.70 m.
2025-01-08T17:43:02.092Z,1736358182.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.700001 m,
      nav range: 24.428068 m,
      bearing: 125.229956 deg,
      approach rate: -0.708687 m/s,
      LOS rate: 0.180529 deg/s,
      cmd heading: 129.280987 deg,
      new cmd heading: 129.467386 deg.

2025-01-08T17:43:02.093Z,1736358182.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.259632 target range: 26.700001 and range: 26.70 m.
2025-01-08T17:43:02.162Z,1736358182.162 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.246744
2025-01-08T17:43:02.418Z,1736358182.418 [DAT](INFO): DAT read: 17:43:00.5305 LVL= 20192, 23361, 16162, 24355, AGC= 56, IDX= 408, 0.26,-1.123,-2.563,-0.965,-1.482, PHS= 0.448,-1.034, 0.514, RAW= 152.2,   1.0, CAL= 154.9,  -7.9, ROT= 355.1,   7.9

2025-01-08T17:43:02.419Z,1736358182.419 [DAT](INFO): got valid direction response:
 17:43:00.5305 LVL= 20192, 23361, 16162, 24355, AGC= 56, IDX= 408, 0.26,-1.123,-2.563,-0.965,-1.482, PHS= 0.448,-1.034, 0.514, RAW= 152.2,   1.0, CAL= 154.9,  -7.9, ROT= 355.1,   7.9

2025-01-08T17:43:02.420Z,1736358182.420 [DAT](INFO): DAT read: Bearing 355.1,   7.9 (Local)

2025-01-08T17:43:02.421Z,1736358182.421 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,   7.9 (Local)

2025-01-08T17:43:02.422Z,1736358182.422 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m  (Round-trip  32.5 ms) speed  0.7 m/s

2025-01-08T17:43:02.423Z,1736358182.423 [DAT](INFO): DAT read: user:340>

2025-01-08T17:43:02.430Z,1736358182.430 [DAT](INFO): DAT read: Tx time:17:43:01.6439

2025-01-08T17:43:02.430Z,1736358182.430 [DAT](INFO): Ping request sent.
2025-01-08T17:43:02.430Z,1736358182.430 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:43:02.431Z,1736358182.431 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-01-08T17:43:02.432Z,1736358182.432 [DAT](INFO): direction in FSK: [0.986889,-0.084606,-0.137445]
2025-01-08T17:43:02.432Z,1736358182.432 [DAT](INFO): publishing transmit ping time
2025-01-08T17:43:02.432Z,1736358182.432 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:02.441Z,1736358182.441 [DAT](INFO): publishing transmit ping time
2025-01-08T17:43:02.441Z,1736358182.441 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:02.491Z,1736358182.491 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.016328
2025-01-08T17:43:02.580Z,1736358182.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:02.617Z,1736358182.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 3.528086 s,
      deltaX: -2.400002 m,
      approachRate: -0.680256 m/s,
      rangeRepo size: 4

2025-01-08T17:43:02.625Z,1736358182.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.299999 m,
      bearing: 124.296378 deg,
      lat: 36.904154 deg,
      lon: -122.119052 deg,
      deltaT: 3.528086 s,
      deltaX: -2.400002 m,
      approachRate: -0.680256 m/s,
      posRepo size: 4

2025-01-08T17:43:02.625Z,1736358182.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.30 m.
2025-01-08T17:43:02.632Z,1736358182.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.299999 m,
      nav range: 24.056532 m,
      bearing: 125.317061 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.180529 deg/s,
      cmd heading: 129.467383 deg,
      new cmd heading: 129.759167 deg.

2025-01-08T17:43:02.633Z,1736358182.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.264725 target range: 24.299999 and range: 24.30 m.
2025-01-08T17:43:02.665Z,1736358182.665 [DAT](INFO): DAT read: TxSync time:17:43:01.6431

2025-01-08T17:43:02.667Z,1736358182.667 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.236302
2025-01-08T17:43:02.916Z,1736358182.916 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.486132
2025-01-08T17:43:02.933Z,1736358182.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:02.939Z,1736358182.939 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:02.942Z,1736358182.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.30 m.
2025-01-08T17:43:02.974Z,1736358182.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.299999 m,
      nav range: 23.806866 m,
      bearing: 125.377130 deg,
      approach rate: -0.767125 m/s,
      LOS rate: 0.186503 deg/s,
      cmd heading: 129.759169 deg,
      new cmd heading: 129.941265 deg.

2025-01-08T17:43:02.979Z,1736358182.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.267903 target range: 24.299999 and range: 24.30 m.
2025-01-08T17:43:03.168Z,1736358183.168 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.737981
2025-01-08T17:43:03.360Z,1736358183.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:03.369Z,1736358183.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.30 m.
2025-01-08T17:43:03.371Z,1736358183.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.299999 m,
      nav range: 23.519897 m,
      bearing: 125.433791 deg,
      approach rate: -0.673235 m/s,
      LOS rate: 0.134549 deg/s,
      cmd heading: 129.941262 deg,
      new cmd heading: 130.113317 deg.

2025-01-08T17:43:03.372Z,1736358183.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.270906 target range: 24.299999 and range: 24.30 m.
2025-01-08T17:43:03.421Z,1736358183.421 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.990641
2025-01-08T17:43:03.673Z,1736358183.673 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.242691
2025-01-08T17:43:03.722Z,1736358183.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:03.731Z,1736358183.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.30 m.
2025-01-08T17:43:03.734Z,1736358183.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.299999 m,
      nav range: 23.277075 m,
      bearing: 125.479893 deg,
      approach rate: -0.670235 m/s,
      LOS rate: 0.128578 deg/s,
      cmd heading: 130.113314 deg,
      new cmd heading: 130.253064 deg.

2025-01-08T17:43:03.735Z,1736358183.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.273345 target range: 24.299999 and range: 24.30 m.
2025-01-08T17:43:03.925Z,1736358183.925 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.494868
2025-01-08T17:43:04.124Z,1736358184.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:04.133Z,1736358184.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.30 m.
2025-01-08T17:43:04.136Z,1736358184.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.299999 m,
      nav range: 23.006779 m,
      bearing: 125.530871 deg,
      approach rate: -0.672594 m/s,
      LOS rate: 0.128343 deg/s,
      cmd heading: 130.253060 deg,
      new cmd heading: 130.407791 deg.

2025-01-08T17:43:04.137Z,1736358184.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.276045 target range: 24.299999 and range: 24.30 m.
2025-01-08T17:43:04.176Z,1736358184.176 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.746161
2025-01-08T17:43:04.429Z,1736358184.429 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.998323
2025-01-08T17:43:04.635Z,1736358184.635 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:04.666Z,1736358184.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.30 m.
2025-01-08T17:43:04.681Z,1736358184.681 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.250941
2025-01-08T17:43:04.689Z,1736358184.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.299999 m,
      nav range: 22.680569 m,
      bearing: 125.574001 deg,
      approach rate: -0.612007 m/s,
      LOS rate: 0.082081 deg/s,
      cmd heading: 130.407791 deg,
      new cmd heading: 130.539042 deg.

2025-01-08T17:43:04.700Z,1736358184.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.278336 target range: 24.299999 and range: 24.30 m.
2025-01-08T17:43:04.933Z,1736358184.933 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.502282
2025-01-08T17:43:04.984Z,1736358184.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:04.992Z,1736358184.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:04.994Z,1736358184.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.30 m.
2025-01-08T17:43:04.997Z,1736358184.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.299999 m,
      nav range: 22.457050 m,
      bearing: 125.602628 deg,
      approach rate: -0.680616 m/s,
      LOS rate: 0.088037 deg/s,
      cmd heading: 130.539040 deg,
      new cmd heading: 130.625775 deg.

2025-01-08T17:43:04.998Z,1736358184.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279850 target range: 24.299999 and range: 24.30 m.
2025-01-08T17:43:05.184Z,1736358185.184 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.753972
2025-01-08T17:43:05.437Z,1736358185.437 [DAT](INFO): DAT read: Rx Time:17:43:04.0770

2025-01-08T17:43:05.439Z,1736358185.439 [DAT](INFO): Rx dataTimestamp_ set to:1736358185.437735
2025-01-08T17:43:05.442Z,1736358185.442 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.010943
2025-01-08T17:43:05.510Z,1736358185.510 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:05.518Z,1736358185.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.30 m.
2025-01-08T17:43:05.521Z,1736358185.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.299999 m,
      nav range: 22.137341 m,
      bearing: 125.617266 deg,
      approach rate: -0.610226 m/s,
      LOS rate: 0.028343 deg/s,
      cmd heading: 130.625770 deg,
      new cmd heading: 130.670318 deg.

2025-01-08T17:43:05.522Z,1736358185.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280627 target range: 24.299999 and range: 24.30 m.
2025-01-08T17:43:05.691Z,1736358185.691 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.259964
2025-01-08T17:43:05.872Z,1736358185.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:05.889Z,1736358185.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.30 m.
2025-01-08T17:43:05.897Z,1736358185.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.299999 m,
      nav range: 21.919542 m,
      bearing: 125.625432 deg,
      approach rate: -0.587195 m/s,
      LOS rate: 0.022234 deg/s,
      cmd heading: 130.670316 deg,
      new cmd heading: 130.695057 deg.

2025-01-08T17:43:05.898Z,1736358185.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.281059 target range: 24.299999 and range: 24.30 m.
2025-01-08T17:43:05.948Z,1736358185.948 [DAT](INFO): DAT read: 17:43:04.0770 LVL= 16480, 26481, 15794, 26867, AGC= 58, IDX= 404, 0.26, 2.581, 1.264, 2.802, 2.306, PHS= 0.363,-0.995, 0.494, RAW= 154.5,   2.0, CAL= 156.7,  -6.9, ROT= 353.3,   6.9

2025-01-08T17:43:05.949Z,1736358185.949 [DAT](INFO): got valid direction response:
 17:43:04.0770 LVL= 16480, 26481, 15794, 26867, AGC= 58, IDX= 404, 0.26, 2.581, 1.264, 2.802, 2.306, PHS= 0.363,-0.995, 0.494, RAW= 154.5,   2.0, CAL= 156.7,  -6.9, ROT= 353.3,   6.9

2025-01-08T17:43:05.950Z,1736358185.950 [DAT](INFO): DAT read: Bearing 353.3,   6.9 (Local)

2025-01-08T17:43:05.950Z,1736358185.950 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.3,   6.9 (Local)

2025-01-08T17:43:05.951Z,1736358185.951 [DAT](INFO): DAT read: Range 10 to 50 : 21.7 m  (Round-trip  29.0 ms) speed  0.6 m/s

2025-01-08T17:43:05.952Z,1736358185.952 [DAT](INFO): DAT read: user:341>

2025-01-08T17:43:05.953Z,1736358185.953 [DAT](INFO): DAT read: Tx time:17:43:05.1939

2025-01-08T17:43:05.953Z,1736358185.953 [DAT](INFO): Ping request sent.
2025-01-08T17:43:05.953Z,1736358185.953 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:43:05.954Z,1736358185.954 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-01-08T17:43:05.955Z,1736358185.955 [DAT](INFO): direction in FSK: [0.985977,-0.115826,-0.120137]
2025-01-08T17:43:05.955Z,1736358185.955 [DAT](INFO): publishing transmit ping time
2025-01-08T17:43:05.963Z,1736358185.963 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:05.966Z,1736358185.966 [DAT](INFO): publishing transmit ping time
2025-01-08T17:43:05.967Z,1736358185.967 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:05.985Z,1736358185.985 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.031024
2025-01-08T17:43:06.196Z,1736358186.196 [DAT](INFO): DAT read: TxSync time:17:43:05.1931

2025-01-08T17:43:06.197Z,1736358186.197 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.243882
2025-01-08T17:43:06.266Z,1736358186.266 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:06.280Z,1736358186.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.700001 m,
      deltaT: 3.529057 s,
      deltaX: -2.599998 m,
      approachRate: -0.736740 m/s,
      rangeRepo size: 4

2025-01-08T17:43:06.282Z,1736358186.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.700001 m,
      bearing: 124.555734 deg,
      lat: 36.904155 deg,
      lon: -122.119051 deg,
      deltaT: 3.529057 s,
      deltaX: -2.599998 m,
      approachRate: -0.736740 m/s,
      posRepo size: 4

2025-01-08T17:43:06.283Z,1736358186.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-01-08T17:43:06.285Z,1736358186.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.700001 m,
      nav range: 21.686806 m,
      bearing: 125.321017 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022234 deg/s,
      cmd heading: 130.695055 deg,
      new cmd heading: 130.721078 deg.

2025-01-08T17:43:06.286Z,1736358186.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.281513 target range: 21.700001 and range: 21.70 m.
2025-01-08T17:43:06.448Z,1736358186.448 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.495064
2025-01-08T17:43:06.669Z,1736358186.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:06.700Z,1736358186.700 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.746828
2025-01-08T17:43:06.701Z,1736358186.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-01-08T17:43:06.716Z,1736358186.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.700001 m,
      nav range: 21.461321 m,
      bearing: 125.322950 deg,
      approach rate: -0.558147 m/s,
      LOS rate: 0.004835 deg/s,
      cmd heading: 130.721078 deg,
      new cmd heading: 130.726938 deg.

2025-01-08T17:43:06.717Z,1736358186.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.281615 target range: 21.700001 and range: 21.70 m.
2025-01-08T17:43:06.953Z,1736358186.953 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.999337
2025-01-08T17:43:07.030Z,1736358187.030 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:07.037Z,1736358187.037 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:07.039Z,1736358187.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-01-08T17:43:07.042Z,1736358187.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.700001 m,
      nav range: 21.259462 m,
      bearing: 125.320796 deg,
      approach rate: -0.567578 m/s,
      LOS rate: -0.006116 deg/s,
      cmd heading: 130.726938 deg,
      new cmd heading: 130.720413 deg.

2025-01-08T17:43:07.056Z,1736358187.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.281502 target range: 21.700001 and range: 21.70 m.
2025-01-08T17:43:07.204Z,1736358187.204 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.250859
2025-01-08T17:43:07.457Z,1736358187.457 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.503834
2025-01-08T17:43:07.491Z,1736358187.491 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:07.499Z,1736358187.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-01-08T17:43:07.502Z,1736358187.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.700001 m,
      nav range: 21.000555 m,
      bearing: 125.292685 deg,
      approach rate: -0.562567 m/s,
      LOS rate: -0.061833 deg/s,
      cmd heading: 130.720409 deg,
      new cmd heading: 130.635038 deg.

2025-01-08T17:43:07.503Z,1736358187.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280011 target range: 21.700001 and range: 21.70 m.
2025-01-08T17:43:07.566Z,1736358187.566 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:43:07.709Z,1736358187.709 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.755177
2025-01-08T17:43:07.856Z,1736358187.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:07.875Z,1736358187.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-01-08T17:43:07.882Z,1736358187.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.700001 m,
      nav range: 20.794319 m,
      bearing: 125.269318 deg,
      approach rate: -0.548625 m/s,
      LOS rate: -0.062779 deg/s,
      cmd heading: 130.635031 deg,
      new cmd heading: 130.564233 deg.

2025-01-08T17:43:07.883Z,1736358187.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.278776 target range: 21.700001 and range: 21.70 m.
2025-01-08T17:43:07.962Z,1736358187.962 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.008411
2025-01-08T17:43:08.212Z,1736358188.212 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.258902
2025-01-08T17:43:08.252Z,1736358188.252 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:08.260Z,1736358188.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-01-08T17:43:08.263Z,1736358188.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.700001 m,
      nav range: 20.571573 m,
      bearing: 125.243537 deg,
      approach rate: -0.577981 m/s,
      LOS rate: -0.067620 deg/s,
      cmd heading: 130.564230 deg,
      new cmd heading: 130.486050 deg.

2025-01-08T17:43:08.264Z,1736358188.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.277411 target range: 21.700001 and range: 21.70 m.
2025-01-08T17:43:08.464Z,1736358188.464 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.510985
2025-01-08T17:43:08.568Z,1736358188.568 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:43:08.674Z,1736358188.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:08.706Z,1736358188.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-01-08T17:43:08.714Z,1736358188.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.700001 m,
      nav range: 20.337891 m,
      bearing: 125.214760 deg,
      approach rate: -0.524195 m/s,
      LOS rate: -0.065295 deg/s,
      cmd heading: 130.486051 deg,
      new cmd heading: 130.398727 deg.

2025-01-08T17:43:08.714Z,1736358188.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.275887 target range: 21.700001 and range: 21.70 m.
2025-01-08T17:43:08.716Z,1736358188.716 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.763038
2025-01-08T17:43:08.968Z,1736358188.968 [DAT](INFO): DAT read: Rx Time:17:43:07.6238

2025-01-08T17:43:08.969Z,1736358188.969 [DAT](INFO): Rx dataTimestamp_ set to:1736358188.968577
2025-01-08T17:43:08.969Z,1736358188.969 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.016087
2025-01-08T17:43:09.050Z,1736358189.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:09.082Z,1736358189.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:09.088Z,1736358189.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.70 m.
2025-01-08T17:43:09.097Z,1736358189.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.700001 m,
      nav range: 20.128998 m,
      bearing: 125.188296 deg,
      approach rate: -0.546434 m/s,
      LOS rate: -0.069944 deg/s,
      cmd heading: 130.398720 deg,
      new cmd heading: 130.318505 deg.

2025-01-08T17:43:09.098Z,1736358189.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.274487 target range: 21.700001 and range: 21.70 m.
2025-01-08T17:43:09.222Z,1736358189.222 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.268830
2025-01-08T17:43:09.468Z,1736358189.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:09.495Z,1736358189.495 [DAT](INFO): DAT read: 17:43:07.6239 LVL= 20208, 32753, 15794, 28915, AGC= 54, IDX= 403, 0.42, 1.662, 0.295, 1.992, 1.450, PHS= 0.300,-1.108, 0.539, RAW= 157.7,   3.5, CAL= 159.0,  -5.5, ROT= 351.0,   5.5

2025-01-08T17:43:09.496Z,1736358189.496 [DAT](INFO): got valid direction response:
 17:43:07.6239 LVL= 20208, 32753, 15794, 28915, AGC= 54, IDX= 403, 0.42, 1.662, 0.295, 1.992, 1.450, PHS= 0.300,-1.108, 0.539, RAW= 157.7,   3.5, CAL= 159.0,  -5.5, ROT= 351.0,   5.5

2025-01-08T17:43:09.497Z,1736358189.497 [DAT](INFO): DAT read: Bearing 351.0,   5.5 (Local)

2025-01-08T17:43:09.497Z,1736358189.497 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.0,   5.5 (Local)

2025-01-08T17:43:09.499Z,1736358189.499 [DAT](INFO): DAT read: Range 10 to 50 : 19.2 m  (Round-trip  25.7 ms) speed  0.5 m/s

2025-01-08T17:43:09.500Z,1736358189.500 [DAT](INFO): DAT read: user:342>

2025-01-08T17:43:09.500Z,1736358189.500 [DAT](INFO): DAT read: Tx time:17:43:08.7440

2025-01-08T17:43:09.501Z,1736358189.501 [DAT](INFO): Ping request sent.
2025-01-08T17:43:09.501Z,1736358189.501 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:43:09.501Z,1736358189.501 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-01-08T17:43:09.502Z,1736358189.502 [DAT](INFO): direction in FSK: [0.983141,-0.155714,-0.095846]
2025-01-08T17:43:09.502Z,1736358189.502 [DAT](INFO): publishing transmit ping time
2025-01-08T17:43:09.502Z,1736358189.502 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:09.506Z,1736358189.506 [DAT](INFO): publishing transmit ping time
2025-01-08T17:43:09.506Z,1736358189.506 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:09.511Z,1736358189.511 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.009982
2025-01-08T17:43:09.558Z,1736358189.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 3.546849 s,
      deltaX: -2.500000 m,
      approachRate: -0.704851 m/s,
      rangeRepo size: 4

2025-01-08T17:43:09.581Z,1736358189.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.200001 m,
      bearing: 123.353311 deg,
      lat: 36.904156 deg,
      lon: -122.119051 deg,
      deltaT: 3.546849 s,
      deltaX: -2.500000 m,
      approachRate: -0.704851 m/s,
      posRepo size: 4

2025-01-08T17:43:09.582Z,1736358189.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.20 m.
2025-01-08T17:43:09.593Z,1736358189.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.200001 m,
      nav range: 19.787043 m,
      bearing: 124.713381 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.069944 deg/s,
      cmd heading: 130.318507 deg,
      new cmd heading: 130.220281 deg.

2025-01-08T17:43:09.594Z,1736358189.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.272773 target range: 19.200001 and range: 19.20 m.
2025-01-08T17:43:09.742Z,1736358189.742 [DAT](INFO): DAT read: TxSync time:17:43:08.7432

2025-01-08T17:43:09.743Z,1736358189.743 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.242061
2025-01-08T17:43:09.894Z,1736358189.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:09.911Z,1736358189.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.20 m.
2025-01-08T17:43:09.918Z,1736358189.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.200001 m,
      nav range: 19.544687 m,
      bearing: 124.660149 deg,
      approach rate: -0.683781 m/s,
      LOS rate: -0.152051 deg/s,
      cmd heading: 130.220275 deg,
      new cmd heading: 130.058599 deg.

2025-01-08T17:43:09.919Z,1736358189.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.269951 target range: 19.200001 and range: 19.20 m.
2025-01-08T17:43:09.993Z,1736358189.993 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.492377
2025-01-08T17:43:10.244Z,1736358190.244 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.743684
2025-01-08T17:43:10.279Z,1736358190.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:10.314Z,1736358190.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.20 m.
2025-01-08T17:43:10.322Z,1736358190.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.200001 m,
      nav range: 19.325525 m,
      bearing: 124.610779 deg,
      approach rate: -0.545385 m/s,
      LOS rate: -0.124251 deg/s,
      cmd heading: 130.058604 deg,
      new cmd heading: 129.908814 deg.

2025-01-08T17:43:10.323Z,1736358190.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.267337 target range: 19.200001 and range: 19.20 m.
2025-01-08T17:43:10.496Z,1736358190.496 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.995515
2025-01-08T17:43:10.728Z,1736358190.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:10.737Z,1736358190.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.20 m.
2025-01-08T17:43:10.741Z,1736358190.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.200001 m,
      nav range: 19.064409 m,
      bearing: 124.559609 deg,
      approach rate: -0.615619 m/s,
      LOS rate: -0.122291 deg/s,
      cmd heading: 129.908818 deg,
      new cmd heading: 129.753208 deg.

2025-01-08T17:43:10.742Z,1736358190.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.264621 target range: 19.200001 and range: 19.20 m.
2025-01-08T17:43:10.748Z,1736358190.748 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.247735
2025-01-08T17:43:11.000Z,1736358191.000 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.499549
2025-01-08T17:43:11.093Z,1736358191.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:11.113Z,1736358191.113 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:11.119Z,1736358191.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.20 m.
2025-01-08T17:43:11.122Z,1736358191.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.200001 m,
      nav range: 18.852470 m,
      bearing: 124.518474 deg,
      approach rate: -0.560454 m/s,
      LOS rate: -0.110001 deg/s,
      cmd heading: 129.753213 deg,
      new cmd heading: 129.628420 deg.

2025-01-08T17:43:11.127Z,1736358191.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.262443 target range: 19.200001 and range: 19.20 m.
2025-01-08T17:43:11.255Z,1736358191.255 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.754028
2025-01-08T17:43:11.509Z,1736358191.509 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.008286
2025-01-08T17:43:11.533Z,1736358191.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:11.542Z,1736358191.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.20 m.
2025-01-08T17:43:11.545Z,1736358191.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.200001 m,
      nav range: 18.589659 m,
      bearing: 124.483009 deg,
      approach rate: -0.615657 m/s,
      LOS rate: -0.084255 deg/s,
      cmd heading: 129.628425 deg,
      new cmd heading: 129.520525 deg.

2025-01-08T17:43:11.546Z,1736358191.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.260560 target range: 19.200001 and range: 19.20 m.
2025-01-08T17:43:11.761Z,1736358191.761 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.259903
2025-01-08T17:43:11.913Z,1736358191.913 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:11.921Z,1736358191.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.20 m.
2025-01-08T17:43:11.925Z,1736358191.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.200001 m,
      nav range: 18.362217 m,
      bearing: 124.453143 deg,
      approach rate: -0.599328 m/s,
      LOS rate: -0.079674 deg/s,
      cmd heading: 129.520522 deg,
      new cmd heading: 129.429814 deg.

2025-01-08T17:43:11.926Z,1736358191.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.258976 target range: 19.200001 and range: 19.20 m.
2025-01-08T17:43:12.013Z,1736358192.013 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.512031
2025-01-08T17:43:12.264Z,1736358192.264 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.763574
2025-01-08T17:43:12.305Z,1736358192.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:12.313Z,1736358192.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.20 m.
2025-01-08T17:43:12.316Z,1736358192.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.200001 m,
      nav range: 18.127607 m,
      bearing: 124.421784 deg,
      approach rate: -0.598648 m/s,
      LOS rate: -0.081053 deg/s,
      cmd heading: 129.429817 deg,
      new cmd heading: 129.334524 deg.

2025-01-08T17:43:12.317Z,1736358192.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.257313 target range: 19.200001 and range: 19.20 m.
2025-01-08T17:43:12.516Z,1736358192.516 [DAT](INFO): DAT read: Rx Time:17:43:11.1712

2025-01-08T17:43:12.517Z,1736358192.517 [DAT](INFO): Rx dataTimestamp_ set to:1736358192.516476
2025-01-08T17:43:12.517Z,1736358192.517 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.016642
2025-01-08T17:43:12.738Z,1736358192.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:12.748Z,1736358192.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.20 m.
2025-01-08T17:43:12.751Z,1736358192.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.200001 m,
      nav range: 17.858101 m,
      bearing: 124.404637 deg,
      approach rate: -0.620060 m/s,
      LOS rate: -0.040045 deg/s,
      cmd heading: 129.334522 deg,
      new cmd heading: 129.282306 deg.

2025-01-08T17:43:12.768Z,1736358192.768 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.267567
2025-01-08T17:43:12.770Z,1736358192.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.256402 target range: 19.200001 and range: 19.20 m.
2025-01-08T17:43:13.029Z,1736358193.029 [DAT](INFO): DAT read: 17:43:11.1712 LVL= 27728, 31857, 18642, 30147, AGC= 53, IDX= 409, 0.16, 1.079,-0.335, 1.475, 0.926, PHS= 0.242,-1.214, 0.546, RAW= 159.3,   5.3, CAL= 159.9,  -4.0, ROT= 350.1,   4.0

2025-01-08T17:43:13.030Z,1736358193.030 [DAT](INFO): got valid direction response:
 17:43:11.1712 LVL= 27728, 31857, 18642, 30147, AGC= 53, IDX= 409, 0.16, 1.079,-0.335, 1.475, 0.926, PHS= 0.242,-1.214, 0.546, RAW= 159.3,   5.3, CAL= 159.9,  -4.0, ROT= 350.1,   4.0

2025-01-08T17:43:13.032Z,1736358193.032 [DAT](INFO): DAT read: Bearing 350.1,   4.0 (Local)

2025-01-08T17:43:13.032Z,1736358193.032 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.1,   4.0 (Local)

2025-01-08T17:43:13.034Z,1736358193.034 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m  (Round-trip  23.1 ms) speed  0.4 m/s

2025-01-08T17:43:13.034Z,1736358193.034 [DAT](INFO): DAT read: user:343>

2025-01-08T17:43:13.042Z,1736358193.042 [DAT](INFO): DAT read: Tx time:17:43:12.2940

2025-01-08T17:43:13.042Z,1736358193.042 [DAT](INFO): Ping request sent.
2025-01-08T17:43:13.042Z,1736358193.042 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:43:13.043Z,1736358193.043 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-01-08T17:43:13.044Z,1736358193.044 [DAT](INFO): direction in FSK: [0.982710,-0.171510,-0.069756]
2025-01-08T17:43:13.044Z,1736358193.044 [DAT](INFO): publishing transmit ping time
2025-01-08T17:43:13.044Z,1736358193.044 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:13.080Z,1736358193.080 [DAT](INFO): publishing transmit ping time
2025-01-08T17:43:13.080Z,1736358193.080 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:13.100Z,1736358193.100 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.040646
2025-01-08T17:43:13.142Z,1736358193.142 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:13.179Z,1736358193.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 3.532089 s,
      deltaX: -1.900002 m,
      approachRate: -0.537926 m/s,
      rangeRepo size: 4

2025-01-08T17:43:13.181Z,1736358193.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.299999 m,
      bearing: 121.633447 deg,
      lat: 36.904157 deg,
      lon: -122.119050 deg,
      deltaT: 3.532089 s,
      deltaX: -1.900002 m,
      approachRate: -0.537926 m/s,
      posRepo size: 4

2025-01-08T17:43:13.182Z,1736358193.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m.
2025-01-08T17:43:13.189Z,1736358193.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.299999 m,
      nav range: 17.647129 m,
      bearing: 123.934030 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.040045 deg/s,
      cmd heading: 129.282312 deg,
      new cmd heading: 129.231230 deg.

2025-01-08T17:43:13.190Z,1736358193.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.255511 target range: 17.299999 and range: 17.30 m.
2025-01-08T17:43:13.278Z,1736358193.278 [DAT](INFO): DAT read: TxSync time:17:43:12.2932

2025-01-08T17:43:13.279Z,1736358193.279 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.236291
2025-01-08T17:43:13.528Z,1736358193.528 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.485860
2025-01-08T17:43:13.560Z,1736358193.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:13.575Z,1736358193.575 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:13.595Z,1736358193.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m.
2025-01-08T17:43:13.598Z,1736358193.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.299999 m,
      nav range: 17.374205 m,
      bearing: 123.932929 deg,
      approach rate: -0.673796 m/s,
      LOS rate: -0.002761 deg/s,
      cmd heading: 129.231236 deg,
      new cmd heading: 129.227881 deg.

2025-01-08T17:43:13.599Z,1736358193.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.255452 target range: 17.299999 and range: 17.30 m.
2025-01-08T17:43:13.780Z,1736358193.780 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.737932
2025-01-08T17:43:13.924Z,1736358193.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:13.933Z,1736358193.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m.
2025-01-08T17:43:13.936Z,1736358193.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.299999 m,
      nav range: 17.135878 m,
      bearing: 123.933076 deg,
      approach rate: -0.671480 m/s,
      LOS rate: 0.000422 deg/s,
      cmd heading: 129.227876 deg,
      new cmd heading: 129.228325 deg.

2025-01-08T17:43:13.937Z,1736358193.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.255460 target range: 17.299999 and range: 17.30 m.
2025-01-08T17:43:14.033Z,1736358194.033 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.990634
2025-01-08T17:43:14.284Z,1736358194.284 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.241869
2025-01-08T17:43:14.343Z,1736358194.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:14.351Z,1736358194.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m.
2025-01-08T17:43:14.354Z,1736358194.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.299999 m,
      nav range: 16.862709 m,
      bearing: 123.933251 deg,
      approach rate: -0.653549 m/s,
      LOS rate: 0.000424 deg/s,
      cmd heading: 129.228327 deg,
      new cmd heading: 129.228858 deg.

2025-01-08T17:43:14.355Z,1736358194.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.255469 target range: 17.299999 and range: 17.30 m.
2025-01-08T17:43:14.536Z,1736358194.536 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.493924
2025-01-08T17:43:14.764Z,1736358194.764 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:14.774Z,1736358194.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m.
2025-01-08T17:43:14.777Z,1736358194.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.299999 m,
      nav range: 16.580370 m,
      bearing: 123.960710 deg,
      approach rate: -0.669374 m/s,
      LOS rate: 0.066210 deg/s,
      cmd heading: 129.228859 deg,
      new cmd heading: 129.312641 deg.

2025-01-08T17:43:14.778Z,1736358194.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.256931 target range: 17.299999 and range: 17.30 m.
2025-01-08T17:43:14.788Z,1736358194.788 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.745942
2025-01-08T17:43:15.041Z,1736358195.041 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.998598
2025-01-08T17:43:15.136Z,1736358195.136 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:15.146Z,1736358195.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m.
2025-01-08T17:43:15.149Z,1736358195.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.299999 m,
      nav range: 16.331207 m,
      bearing: 123.987455 deg,
      approach rate: -0.668538 m/s,
      LOS rate: 0.072854 deg/s,
      cmd heading: 129.312638 deg,
      new cmd heading: 129.394096 deg.

2025-01-08T17:43:15.150Z,1736358195.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.258353 target range: 17.299999 and range: 17.30 m.
2025-01-08T17:43:15.292Z,1736358195.292 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.250051
2025-01-08T17:43:15.544Z,1736358195.544 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.501990
2025-01-08T17:43:15.577Z,1736358195.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:15.591Z,1736358195.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:15.593Z,1736358195.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m.
2025-01-08T17:43:15.600Z,1736358195.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.299999 m,
      nav range: 16.024830 m,
      bearing: 124.043607 deg,
      approach rate: -0.684092 m/s,
      LOS rate: 0.127777 deg/s,
      cmd heading: 129.394095 deg,
      new cmd heading: 129.565773 deg.

2025-01-08T17:43:15.601Z,1736358195.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.261349 target range: 17.299999 and range: 17.30 m.
2025-01-08T17:43:15.796Z,1736358195.796 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.753920
2025-01-08T17:43:15.955Z,1736358195.955 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:15.965Z,1736358195.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m.
2025-01-08T17:43:15.968Z,1736358195.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.299999 m,
      nav range: 15.761423 m,
      bearing: 124.093632 deg,
      approach rate: -0.709253 m/s,
      LOS rate: 0.136947 deg/s,
      cmd heading: 129.565779 deg,
      new cmd heading: 129.718359 deg.

2025-01-08T17:43:15.969Z,1736358195.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.264013 target range: 17.299999 and range: 17.30 m.
2025-01-08T17:43:16.049Z,1736358196.049 [DAT](INFO): DAT read: Rx Time:17:43:14.7186

2025-01-08T17:43:16.049Z,1736358196.049 [DAT](INFO): Rx dataTimestamp_ set to:1736358196.048760
2025-01-08T17:43:16.050Z,1736358196.050 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.007241
2025-01-08T17:43:16.300Z,1736358196.300 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.257890
2025-01-08T17:43:16.349Z,1736358196.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:16.357Z,1736358196.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m.
2025-01-08T17:43:16.360Z,1736358196.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.299999 m,
      nav range: 15.487438 m,
      bearing: 124.145449 deg,
      approach rate: -0.698072 m/s,
      LOS rate: 0.134358 deg/s,
      cmd heading: 129.718365 deg,
      new cmd heading: 129.876566 deg.

2025-01-08T17:43:16.361Z,1736358196.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.266774 target range: 17.299999 and range: 17.30 m.
2025-01-08T17:43:16.560Z,1736358196.560 [DAT](INFO): DAT read: 17:43:14.7186 LVL= 17632, 31313, 15538, 29491, AGC= 56, IDX= 414,-0.36, 0.791,-0.468, 1.066, 0.646, PHS= 0.233,-1.067, 0.416, RAW= 156.5,   6.0, CAL= 157.2,  -3.2, ROT= 352.8,   3.2

2025-01-08T17:43:16.561Z,1736358196.561 [DAT](INFO): got valid direction response:
 17:43:14.7186 LVL= 17632, 31313, 15538, 29491, AGC= 56, IDX= 414,-0.36, 0.791,-0.468, 1.066, 0.646, PHS= 0.233,-1.067, 0.416, RAW= 156.5,   6.0, CAL= 157.2,  -3.2, ROT= 352.8,   3.2

2025-01-08T17:43:16.562Z,1736358196.562 [DAT](INFO): DAT read: Bearing 352.8,   3.2 (Local)

2025-01-08T17:43:16.562Z,1736358196.562 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.8,   3.2 (Local)

2025-01-08T17:43:16.569Z,1736358196.569 [DAT](INFO): DAT read: Range 10 to 50 : 15.3 m  (Round-trip  20.5 ms) speed  0.5 m/s

2025-01-08T17:43:16.569Z,1736358196.569 [DAT](INFO): DAT read: user:344>

2025-01-08T17:43:16.570Z,1736358196.570 [DAT](INFO): DAT read: Tx time:17:43:15.8440

2025-01-08T17:43:16.570Z,1736358196.570 [DAT](INFO): Ping request sent.
2025-01-08T17:43:16.571Z,1736358196.571 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:43:16.571Z,1736358196.571 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-01-08T17:43:16.572Z,1736358196.572 [DAT](INFO): direction in FSK: [0.990568,-0.125138,-0.055822]
2025-01-08T17:43:16.572Z,1736358196.572 [DAT](INFO): publishing transmit ping time
2025-01-08T17:43:16.573Z,1736358196.573 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:16.581Z,1736358196.581 [DAT](INFO): publishing transmit ping time
2025-01-08T17:43:16.582Z,1736358196.582 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:16.589Z,1736358196.589 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.018399
2025-01-08T17:43:16.802Z,1736358196.802 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:16.805Z,1736358196.805 [DAT](INFO): DAT read: TxSync time:17:43:15.8432

2025-01-08T17:43:16.805Z,1736358196.805 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.234715
2025-01-08T17:43:16.860Z,1736358196.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 3.532384 s,
      deltaX: -1.999999 m,
      approachRate: -0.566190 m/s,
      rangeRepo size: 4

2025-01-08T17:43:16.862Z,1736358196.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.300000 m,
      bearing: 123.927830 deg,
      lat: 36.904157 deg,
      lon: -122.119049 deg,
      deltaT: 3.532384 s,
      deltaX: -1.999999 m,
      approachRate: -0.566190 m/s,
      posRepo size: 4

2025-01-08T17:43:16.875Z,1736358196.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-01-08T17:43:16.878Z,1736358196.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.300000 m,
      nav range: 15.217271 m,
      bearing: 124.057386 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.134358 deg/s,
      cmd heading: 129.876566 deg,
      new cmd heading: 130.071761 deg.

2025-01-08T17:43:16.879Z,1736358196.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.270180 target range: 15.300000 and range: 15.30 m.
2025-01-08T17:43:17.057Z,1736358197.057 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.486640
2025-01-08T17:43:17.186Z,1736358197.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:17.196Z,1736358197.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-01-08T17:43:17.198Z,1736358197.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.300000 m,
      nav range: 14.966478 m,
      bearing: 124.150856 deg,
      approach rate: -0.708772 m/s,
      LOS rate: 0.268584 deg/s,
      cmd heading: 130.071759 deg,
      new cmd heading: 130.356865 deg.

2025-01-08T17:43:17.200Z,1736358197.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.275156 target range: 15.300000 and range: 15.30 m.
2025-01-08T17:43:17.309Z,1736358197.309 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.738054
2025-01-08T17:43:17.560Z,1736358197.560 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.989808
2025-01-08T17:43:17.594Z,1736358197.594 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:17.621Z,1736358197.621 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:17.627Z,1736358197.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-01-08T17:43:17.630Z,1736358197.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.300000 m,
      nav range: 14.682014 m,
      bearing: 124.244978 deg,
      approach rate: -0.665468 m/s,
      LOS rate: 0.224452 deg/s,
      cmd heading: 130.356865 deg,
      new cmd heading: 130.644699 deg.

2025-01-08T17:43:17.635Z,1736358197.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280180 target range: 15.300000 and range: 15.30 m.
2025-01-08T17:43:17.812Z,1736358197.812 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.241561
2025-01-08T17:43:17.875Z,1736358197.875 [CTD_Seabird](ERROR): Failed to parse device response: 65.952,3.70761,9061.32
2025-01-08T17:43:18.045Z,1736358198.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:18.054Z,1736358198.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-01-08T17:43:18.058Z,1736358198.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.300000 m,
      nav range: 14.366530 m,
      bearing: 124.353739 deg,
      approach rate: -0.731586 m/s,
      LOS rate: 0.257748 deg/s,
      cmd heading: 130.644703 deg,
      new cmd heading: 130.978147 deg.

2025-01-08T17:43:18.059Z,1736358198.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286000 target range: 15.300000 and range: 15.30 m.
2025-01-08T17:43:18.065Z,1736358198.065 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.493932
2025-01-08T17:43:18.316Z,1736358198.316 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.745684
2025-01-08T17:43:18.412Z,1736358198.412 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:18.424Z,1736358198.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-01-08T17:43:18.426Z,1736358198.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.300000 m,
      nav range: 14.110854 m,
      bearing: 124.438757 deg,
      approach rate: -0.691486 m/s,
      LOS rate: 0.234101 deg/s,
      cmd heading: 130.978153 deg,
      new cmd heading: 131.237826 deg.

2025-01-08T17:43:18.432Z,1736358198.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.290532 target range: 15.300000 and range: 15.30 m.
2025-01-08T17:43:18.569Z,1736358198.569 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.998531
2025-01-08T17:43:18.820Z,1736358198.820 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.249664
2025-01-08T17:43:18.905Z,1736358198.905 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:18.915Z,1736358198.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-01-08T17:43:18.917Z,1736358198.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.300000 m,
      nav range: 13.772981 m,
      bearing: 124.562117 deg,
      approach rate: -0.688574 m/s,
      LOS rate: 0.257570 deg/s,
      cmd heading: 131.237823 deg,
      new cmd heading: 131.616976 deg.

2025-01-08T17:43:18.918Z,1736358198.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.297150 target range: 15.300000 and range: 15.30 m.
2025-01-08T17:43:19.072Z,1736358199.072 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.501853
2025-01-08T17:43:19.216Z,1736358199.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:19.241Z,1736358199.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-01-08T17:43:19.248Z,1736358199.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.300000 m,
      nav range: 13.560978 m,
      bearing: 124.642165 deg,
      approach rate: -0.649321 m/s,
      LOS rate: 0.249003 deg/s,
      cmd heading: 131.616980 deg,
      new cmd heading: 131.860876 deg.

2025-01-08T17:43:19.249Z,1736358199.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.301406 target range: 15.300000 and range: 15.30 m.
2025-01-08T17:43:19.326Z,1736358199.326 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.754889
2025-01-08T17:43:19.579Z,1736358199.579 [DAT](INFO): DAT read: Rx Time:17:43:18.2654

2025-01-08T17:43:19.580Z,1736358199.580 [DAT](INFO): Rx dataTimestamp_ set to:1736358199.578792
2025-01-08T17:43:19.580Z,1736358199.580 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.009804
2025-01-08T17:43:19.667Z,1736358199.667 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:19.678Z,1736358199.678 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:19.682Z,1736358199.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-01-08T17:43:19.686Z,1736358199.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.300000 m,
      nav range: 13.265941 m,
      bearing: 124.711215 deg,
      approach rate: -0.669900 m/s,
      LOS rate: 0.160269 deg/s,
      cmd heading: 131.860873 deg,
      new cmd heading: 132.072629 deg.

2025-01-08T17:43:19.688Z,1736358199.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305102 target range: 15.300000 and range: 15.30 m.
2025-01-08T17:43:19.828Z,1736358199.828 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.257697
2025-01-08T17:43:20.028Z,1736358200.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:20.060Z,1736358200.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-01-08T17:43:20.062Z,1736358200.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.300000 m,
      nav range: 13.029904 m,
      bearing: 124.767109 deg,
      approach rate: -0.624777 m/s,
      LOS rate: 0.150630 deg/s,
      cmd heading: 132.072636 deg,
      new cmd heading: 132.243356 deg.

2025-01-08T17:43:20.064Z,1736358200.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.308082 target range: 15.300000 and range: 15.30 m.
2025-01-08T17:43:20.113Z,1736358200.113 [DAT](INFO): DAT read: 17:43:18.2654 LVL= 21616, 32753, 20322, 32755, AGC= 57, IDX= 413,-0.01,-0.992,-2.368,-0.902,-1.191, PHS= 0.287,-1.130, 0.287, RAW= 150.0,   7.9, CAL= 150.8,  -1.0, ROT= 359.2,   1.0

2025-01-08T17:43:20.114Z,1736358200.114 [DAT](INFO): got valid direction response:
 17:43:18.2654 LVL= 21616, 32753, 20322, 32755, AGC= 57, IDX= 413,-0.01,-0.992,-2.368,-0.902,-1.191, PHS= 0.287,-1.130, 0.287, RAW= 150.0,   7.9, CAL= 150.8,  -1.0, ROT= 359.2,   1.0

2025-01-08T17:43:20.137Z,1736358200.137 [DAT](INFO): DAT read: Bearing 359.2,   1.0 (Local)

2025-01-08T17:43:20.137Z,1736358200.137 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.2,   1.0 (Local)

2025-01-08T17:43:20.138Z,1736358200.138 [DAT](INFO): DAT read: Range 10 to 50 : 12.9 m  (Round-trip  17.2 ms) speed  0.6 m/s

2025-01-08T17:43:20.150Z,1736358200.150 [DAT](INFO): DAT read: user:345>

2025-01-08T17:43:20.156Z,1736358200.156 [DAT](INFO): DAT read: Tx time:17:43:19.3440

2025-01-08T17:43:20.157Z,1736358200.157 [DAT](INFO): Ping request sent.
2025-01-08T17:43:20.157Z,1736358200.157 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:43:20.158Z,1736358200.158 [DAT](INFO): DAT read: TxSync time:17:43:19.3432

2025-01-08T17:43:20.158Z,1736358200.158 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-01-08T17:43:20.164Z,1736358200.164 [DAT](INFO): direction in FSK: [0.999750,-0.013960,-0.017452]
2025-01-08T17:43:20.164Z,1736358200.164 [DAT](INFO): publishing transmit ping time
2025-01-08T17:43:20.167Z,1736358200.167 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:20.170Z,1736358200.170 [DAT](INFO): publishing transmit ping time
2025-01-08T17:43:20.171Z,1736358200.171 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:20.175Z,1736358200.175 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.017555
2025-01-08T17:43:20.334Z,1736358200.334 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.176560
2025-01-08T17:43:20.427Z,1736358200.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:20.459Z,1736358200.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 3.529616 s,
      deltaX: -2.400001 m,
      approachRate: -0.679961 m/s,
      rangeRepo size: 4

2025-01-08T17:43:20.465Z,1736358200.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.900000 m,
      bearing: 131.149151 deg,
      lat: 36.904157 deg,
      lon: -122.119050 deg,
      deltaT: 3.529616 s,
      deltaX: -2.400001 m,
      approachRate: -0.679961 m/s,
      posRepo size: 4

2025-01-08T17:43:20.466Z,1736358200.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.90 m.
2025-01-08T17:43:20.470Z,1736358200.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.900000 m,
      nav range: 12.727324 m,
      bearing: 124.961768 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.150630 deg/s,
      cmd heading: 132.243350 deg,
      new cmd heading: 132.423561 deg.

2025-01-08T17:43:20.481Z,1736358200.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311227 target range: 12.900000 and range: 12.90 m.
2025-01-08T17:43:20.589Z,1736358200.589 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.430876
2025-01-08T17:43:20.824Z,1736358200.824 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:20.837Z,1736358200.837 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.679603
2025-01-08T17:43:20.859Z,1736358200.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.90 m.
2025-01-08T17:43:20.862Z,1736358200.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.900000 m,
      nav range: 12.480460 m,
      bearing: 125.000146 deg,
      approach rate: -0.648100 m/s,
      LOS rate: 0.102748 deg/s,
      cmd heading: 132.423557 deg,
      new cmd heading: 132.540968 deg.

2025-01-08T17:43:20.863Z,1736358200.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313276 target range: 12.900000 and range: 12.90 m.
2025-01-08T17:43:21.090Z,1736358201.090 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.933136
2025-01-08T17:43:21.218Z,1736358201.218 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:21.233Z,1736358201.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.90 m.
2025-01-08T17:43:21.235Z,1736358201.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.900000 m,
      nav range: 12.235399 m,
      bearing: 125.039683 deg,
      approach rate: -0.622703 m/s,
      LOS rate: 0.102475 deg/s,
      cmd heading: 132.540968 deg,
      new cmd heading: 132.661954 deg.

2025-01-08T17:43:21.236Z,1736358201.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.315388 target range: 12.900000 and range: 12.90 m.
2025-01-08T17:43:21.342Z,1736358201.342 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.184683
2025-01-08T17:43:21.595Z,1736358201.595 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.437541
2025-01-08T17:43:21.669Z,1736358201.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:21.680Z,1736358201.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:21.683Z,1736358201.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.90 m.
2025-01-08T17:43:21.704Z,1736358201.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.900000 m,
      nav range: 11.963456 m,
      bearing: 125.024581 deg,
      approach rate: -0.604330 m/s,
      LOS rate: -0.034323 deg/s,
      cmd heading: 132.661958 deg,
      new cmd heading: 132.615623 deg.

2025-01-08T17:43:21.705Z,1736358201.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.314579 target range: 12.900000 and range: 12.90 m.
2025-01-08T17:43:21.846Z,1736358201.846 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.688286
2025-01-08T17:43:22.024Z,1736358202.024 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:22.033Z,1736358202.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.90 m.
2025-01-08T17:43:22.035Z,1736358202.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.900000 m,
      nav range: 11.749047 m,
      bearing: 125.012999 deg,
      approach rate: -0.612581 m/s,
      LOS rate: -0.033694 deg/s,
      cmd heading: 132.615622 deg,
      new cmd heading: 132.580243 deg.

2025-01-08T17:43:22.036Z,1736358202.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313962 target range: 12.900000 and range: 12.90 m.
2025-01-08T17:43:22.096Z,1736358202.096 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.939146
2025-01-08T17:43:22.348Z,1736358202.348 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.190947
2025-01-08T17:43:22.439Z,1736358202.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:22.449Z,1736358202.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.90 m.
2025-01-08T17:43:22.454Z,1736358202.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.900000 m,
      nav range: 11.498405 m,
      bearing: 124.998912 deg,
      approach rate: -0.601961 m/s,
      LOS rate: -0.034569 deg/s,
      cmd heading: 132.580242 deg,
      new cmd heading: 132.537061 deg.

2025-01-08T17:43:22.455Z,1736358202.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313208 target range: 12.900000 and range: 12.90 m.
2025-01-08T17:43:22.604Z,1736358202.604 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.446518
2025-01-08T17:43:22.846Z,1736358202.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:22.852Z,1736358202.852 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.695207
2025-01-08T17:43:22.880Z,1736358202.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.90 m.
2025-01-08T17:43:22.882Z,1736358202.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.900000 m,
      nav range: 11.267349 m,
      bearing: 124.924684 deg,
      approach rate: -0.541733 m/s,
      LOS rate: -0.177605 deg/s,
      cmd heading: 132.537061 deg,
      new cmd heading: 132.309811 deg.

2025-01-08T17:43:22.887Z,1736358202.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.309242 target range: 12.900000 and range: 12.90 m.
2025-01-08T17:43:23.109Z,1736358203.109 [DAT](INFO): DAT read: Rx Time:17:43:21.7622

2025-01-08T17:43:23.110Z,1736358203.110 [DAT](INFO): Rx dataTimestamp_ set to:1736358203.109421
2025-01-08T17:43:23.110Z,1736358203.110 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.953025
2025-01-08T17:43:23.235Z,1736358203.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:23.245Z,1736358203.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.90 m.
2025-01-08T17:43:23.248Z,1736358203.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.900000 m,
      nav range: 11.046560 m,
      bearing: 124.850245 deg,
      approach rate: -0.597885 m/s,
      LOS rate: -0.205607 deg/s,
      cmd heading: 132.309807 deg,
      new cmd heading: 132.082027 deg.

2025-01-08T17:43:23.249Z,1736358203.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305266 target range: 12.900000 and range: 12.90 m.
2025-01-08T17:43:23.357Z,1736358203.357 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.199411
2025-01-08T17:43:23.652Z,1736358203.652 [DAT](INFO): DAT read: 17:43:21.7622 LVL= 24096, 32753, 22322, 32755, AGC= 52, IDX= 411, 0.47, 1.709, 0.221, 1.633, 1.476, PHS= 0.321,-1.209, 0.154, RAW= 144.3,  10.1, CAL= 146.5,   2.5, ROT=   3.5,  -2.5

2025-01-08T17:43:23.653Z,1736358203.653 [DAT](INFO): got valid direction response:
 17:43:21.7622 LVL= 24096, 32753, 22322, 32755, AGC= 52, IDX= 411, 0.47, 1.709, 0.221, 1.633, 1.476, PHS= 0.321,-1.209, 0.154, RAW= 144.3,  10.1, CAL= 146.5,   2.5, ROT=   3.5,  -2.5

2025-01-08T17:43:23.654Z,1736358203.654 [DAT](INFO): DAT read: Bearing   3.5,  -2.5 (Local)

2025-01-08T17:43:23.654Z,1736358203.654 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.5,  -2.5 (Local)

2025-01-08T17:43:23.656Z,1736358203.656 [DAT](INFO): DAT read: Range 10 to 50 : 10.5 m  (Round-trip  14.0 ms) speed  0.5 m/s

2025-01-08T17:43:23.657Z,1736358203.657 [DAT](INFO): DAT read: user:346>

2025-01-08T17:43:23.658Z,1736358203.658 [DAT](INFO): DAT read: Tx time:17:43:22.8440

2025-01-08T17:43:23.658Z,1736358203.658 [DAT](INFO): Ping request sent.
2025-01-08T17:43:23.658Z,1736358203.658 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:43:23.663Z,1736358203.663 [DAT](INFO): DAT read: TxSync time:17:43:22.8432

2025-01-08T17:43:23.664Z,1736358203.664 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-01-08T17:43:23.665Z,1736358203.665 [DAT](INFO): direction in FSK: [0.997185,0.060990,0.043619]
2025-01-08T17:43:23.666Z,1736358203.666 [DAT](INFO): publishing transmit ping time
2025-01-08T17:43:23.666Z,1736358203.666 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:23.675Z,1736358203.675 [DAT](INFO): publishing transmit ping time
2025-01-08T17:43:23.675Z,1736358203.675 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:23.680Z,1736358203.680 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.021838
2025-01-08T17:43:23.784Z,1736358203.784 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:23.811Z,1736358203.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 3.528018 s,
      deltaX: -2.400000 m,
      approachRate: -0.680269 m/s,
      rangeRepo size: 4

2025-01-08T17:43:23.813Z,1736358203.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.500000 m,
      bearing: 135.199444 deg,
      lat: 36.904157 deg,
      lon: -122.119054 deg,
      deltaT: 3.528018 s,
      deltaX: -2.400000 m,
      approachRate: -0.680269 m/s,
      posRepo size: 4

2025-01-08T17:43:23.814Z,1736358203.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.50 m.
2025-01-08T17:43:23.821Z,1736358203.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.500000 m,
      nav range: 10.423316 m,
      bearing: 125.902677 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.205607 deg/s,
      cmd heading: 132.082021 deg,
      new cmd heading: 131.733240 deg.

2025-01-08T17:43:23.821Z,1736358203.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299179 target range: 10.500000 and range: 10.50 m.
2025-01-08T17:43:23.860Z,1736358203.860 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.202007
2025-01-08T17:43:24.112Z,1736358204.112 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.453905
2025-01-08T17:43:24.143Z,1736358204.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:24.163Z,1736358204.163 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:24.165Z,1736358204.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.50 m.
2025-01-08T17:43:24.172Z,1736358204.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.500000 m,
      nav range: 10.218555 m,
      bearing: 125.804555 deg,
      approach rate: -0.576287 m/s,
      LOS rate: -0.281691 deg/s,
      cmd heading: 131.733244 deg,
      new cmd heading: 131.432984 deg.

2025-01-08T17:43:24.174Z,1736358204.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.293938 target range: 10.500000 and range: 10.50 m.
2025-01-08T17:43:24.365Z,1736358204.365 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.706750
2025-01-08T17:43:24.511Z,1736358204.511 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:24.539Z,1736358204.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.50 m.
2025-01-08T17:43:24.550Z,1736358204.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.500000 m,
      nav range: 10.011506 m,
      bearing: 125.701286 deg,
      approach rate: -0.560377 m/s,
      LOS rate: -0.285279 deg/s,
      cmd heading: 131.432989 deg,
      new cmd heading: 131.116775 deg.

2025-01-08T17:43:24.556Z,1736358204.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.288419 target range: 10.500000 and range: 10.50 m.
2025-01-08T17:43:24.620Z,1736358204.620 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.961254
2025-01-08T17:43:24.870Z,1736358204.870 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.211658
2025-01-08T17:43:24.963Z,1736358204.963 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:24.972Z,1736358204.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.50 m.
2025-01-08T17:43:24.976Z,1736358204.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.500000 m,
      nav range: 9.760027 m,
      bearing: 125.539111 deg,
      approach rate: -0.575474 m/s,
      LOS rate: -0.380674 deg/s,
      cmd heading: 131.116778 deg,
      new cmd heading: 130.617733 deg.

2025-01-08T17:43:24.977Z,1736358204.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279710 target range: 10.500000 and range: 10.50 m.
2025-01-08T17:43:25.122Z,1736358205.122 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.463670
2025-01-08T17:43:25.338Z,1736358205.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:25.348Z,1736358205.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.50 m.
2025-01-08T17:43:25.370Z,1736358205.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.500000 m,
      nav range: 9.551945 m,
      bearing: 125.400936 deg,
      approach rate: -0.554666 m/s,
      LOS rate: -0.376345 deg/s,
      cmd heading: 130.617737 deg,
      new cmd heading: 130.194188 deg.

2025-01-08T17:43:25.370Z,1736358205.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.272317 target range: 10.500000 and range: 10.50 m.
2025-01-08T17:43:25.372Z,1736358205.372 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.713931
2025-01-08T17:43:25.629Z,1736358205.629 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.970291
2025-01-08T17:43:25.754Z,1736358205.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:25.764Z,1736358205.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.50 m.
2025-01-08T17:43:25.767Z,1736358205.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.500000 m,
      nav range: 9.314917 m,
      bearing: 125.247589 deg,
      approach rate: -0.568679 m/s,
      LOS rate: -0.377273 deg/s,
      cmd heading: 130.194184 deg,
      new cmd heading: 129.722447 deg.

2025-01-08T17:43:25.788Z,1736358205.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.264084 target range: 10.500000 and range: 10.50 m.
2025-01-08T17:43:25.877Z,1736358205.877 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.218771
2025-01-08T17:43:26.128Z,1736358206.128 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.470018
2025-01-08T17:43:26.138Z,1736358206.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:26.149Z,1736358206.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.50 m.
2025-01-08T17:43:26.152Z,1736358206.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.500000 m,
      nav range: 9.096816 m,
      bearing: 125.101139 deg,
      approach rate: -0.568806 m/s,
      LOS rate: -0.391096 deg/s,
      cmd heading: 129.722450 deg,
      new cmd heading: 129.272578 deg.

2025-01-08T17:43:26.153Z,1736358206.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.256232 target range: 10.500000 and range: 10.50 m.
2025-01-08T17:43:26.381Z,1736358206.381 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.722886
2025-01-08T17:43:26.541Z,1736358206.541 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:26.547Z,1736358206.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:26.549Z,1736358206.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.50 m.
2025-01-08T17:43:26.552Z,1736358206.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.500000 m,
      nav range: 8.867806 m,
      bearing: 124.942044 deg,
      approach rate: -0.569593 m/s,
      LOS rate: -0.405921 deg/s,
      cmd heading: 129.272573 deg,
      new cmd heading: 128.782974 deg.

2025-01-08T17:43:26.553Z,1736358206.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.247687 target range: 10.500000 and range: 10.50 m.
2025-01-08T17:43:26.641Z,1736358206.641 [DAT](INFO): DAT read: Rx Time:17:43:25.2594

2025-01-08T17:43:26.647Z,1736358206.647 [DAT](INFO): Rx dataTimestamp_ set to:1736358206.642101
2025-01-08T17:43:26.657Z,1736358206.657 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.997718
2025-01-08T17:43:26.888Z,1736358206.888 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.230048
2025-01-08T17:43:27.025Z,1736358207.025 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:27.051Z,1736358207.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.50 m.
2025-01-08T17:43:27.059Z,1736358207.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.500000 m,
      nav range: 8.589233 m,
      bearing: 124.748104 deg,
      approach rate: -0.555528 m/s,
      LOS rate: -0.399296 deg/s,
      cmd heading: 128.782971 deg,
      new cmd heading: 128.182304 deg.

2025-01-08T17:43:27.064Z,1736358207.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.237203 target range: 10.500000 and range: 10.50 m.
2025-01-08T17:43:27.157Z,1736358207.157 [DAT](INFO): DAT read: 17:43:25.2594 LVL= 32752, 32753, 29026, 32755, AGC= 50, IDX= 415,-0.03,-2.332, 2.495,-2.336,-2.432, PHS= 0.189,-1.309, 0.093, RAW= 146.7,  14.0, CAL= 148.5,   7.1, ROT=   1.5,  -7.1

2025-01-08T17:43:27.159Z,1736358207.159 [DAT](INFO): got valid direction response:
 17:43:25.2594 LVL= 32752, 32753, 29026, 32755, AGC= 50, IDX= 415,-0.03,-2.332, 2.495,-2.336,-2.432, PHS= 0.189,-1.309, 0.093, RAW= 146.7,  14.0, CAL= 148.5,   7.1, ROT=   1.5,  -7.1

2025-01-08T17:43:27.174Z,1736358207.174 [DAT](INFO): DAT read: Bearing   1.5,  -7.1 (Local)

2025-01-08T17:43:27.174Z,1736358207.174 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.5,  -7.1 (Local)

2025-01-08T17:43:27.180Z,1736358207.180 [DAT](INFO): DAT read: Range 10 to 50 : 8.4 m  (Round-trip  11.2 ms) speed  0.4 m/s

2025-01-08T17:43:27.181Z,1736358207.181 [DAT](INFO): DAT read: user:347>

2025-01-08T17:43:27.181Z,1736358207.181 [DAT](INFO): DAT read: Tx time:17:43:26.3441

2025-01-08T17:43:27.182Z,1736358207.182 [DAT](INFO): Ping request sent.
2025-01-08T17:43:27.182Z,1736358207.182 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:43:27.182Z,1736358207.182 [DAT](INFO): DAT read: TxSync time:17:43:26.3433

2025-01-08T17:43:27.183Z,1736358207.183 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-01-08T17:43:27.189Z,1736358207.189 [DAT](INFO): direction in FSK: [0.991992,0.025976,0.123601]
2025-01-08T17:43:27.190Z,1736358207.190 [DAT](INFO): publishing transmit ping time
2025-01-08T17:43:27.190Z,1736358207.190 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:27.205Z,1736358207.205 [DAT](INFO): publishing transmit ping time
2025-01-08T17:43:27.206Z,1736358207.206 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:27.221Z,1736358207.221 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.038970
2025-01-08T17:43:27.393Z,1736358207.393 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.210741
2025-01-08T17:43:27.420Z,1736358207.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:27.446Z,1736358207.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 3.530696 s,
      deltaX: -2.100000 m,
      approachRate: -0.594784 m/s,
      rangeRepo size: 4

2025-01-08T17:43:27.452Z,1736358207.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.400000 m,
      bearing: 132.563007 deg,
      lat: 36.904149 deg,
      lon: -122.119058 deg,
      deltaT: 3.530696 s,
      deltaX: -2.100000 m,
      approachRate: -0.594784 m/s,
      posRepo size: 4

2025-01-08T17:43:27.453Z,1736358207.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.40 m.
2025-01-08T17:43:27.454Z,1736358207.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 8.40 m.
2025-01-08T17:43:27.454Z,1736358207.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-01-08T17:43:27.461Z,1736358207.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 8.642548 m,
      bearing: 130.687142 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.399296 deg/s,
      cmd heading: 128.182310 deg,
      new cmd heading: 127.709414 deg.

2025-01-08T17:43:27.462Z,1736358207.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.228950 target range: 8.400000 and range: 8.40 m.
2025-01-08T17:43:27.656Z,1736358207.656 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.468443
2025-01-08T17:43:27.811Z,1736358207.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:27.820Z,1736358207.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 8.40 m.
2025-01-08T17:43:27.822Z,1736358207.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 8.407993 m,
      bearing: 130.730438 deg,
      approach rate: -0.628019 m/s,
      LOS rate: 0.119158 deg/s,
      cmd heading: 127.709415 deg,
      new cmd heading: 127.842926 deg.

2025-01-08T17:43:27.840Z,1736358207.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.231280 target range: 8.400000 and range: 8.40 m.
2025-01-08T17:43:27.897Z,1736358207.897 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.714924
2025-01-08T17:43:28.148Z,1736358208.148 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.966464
2025-01-08T17:43:28.192Z,1736358208.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:28.201Z,1736358208.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 8.40 m.
2025-01-08T17:43:28.203Z,1736358208.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 8.179241 m,
      bearing: 130.777316 deg,
      approach rate: -0.600261 m/s,
      LOS rate: 0.126452 deg/s,
      cmd heading: 127.842932 deg,
      new cmd heading: 127.987500 deg.

2025-01-08T17:43:28.204Z,1736358208.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.233803 target range: 8.400000 and range: 8.40 m.
2025-01-08T17:43:28.400Z,1736358208.400 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.218660
2025-01-08T17:43:28.600Z,1736358208.600 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:28.612Z,1736358208.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:28.618Z,1736358208.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 8.40 m.
2025-01-08T17:43:28.622Z,1736358208.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 7.933903 m,
      bearing: 130.831111 deg,
      approach rate: -0.589228 m/s,
      LOS rate: 0.133194 deg/s,
      cmd heading: 127.987500 deg,
      new cmd heading: 128.153874 deg.

2025-01-08T17:43:28.622Z,1736358208.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.236707 target range: 8.400000 and range: 8.40 m.
2025-01-08T17:43:28.664Z,1736358208.664 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.480835
2025-01-08T17:43:28.905Z,1736358208.905 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.723258
2025-01-08T17:43:29.018Z,1736358209.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:29.029Z,1736358209.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 8.40 m.
2025-01-08T17:43:29.048Z,1736358209.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 7.673347 m,
      bearing: 131.002611 deg,
      approach rate: -0.632545 m/s,
      LOS rate: 0.430482 deg/s,
      cmd heading: 128.153870 deg,
      new cmd heading: 128.685822 deg.

2025-01-08T17:43:29.049Z,1736358209.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.245991 target range: 8.400000 and range: 8.40 m.
2025-01-08T17:43:29.158Z,1736358209.158 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.976180
2025-01-08T17:43:29.408Z,1736358209.408 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.226529
2025-01-08T17:43:29.411Z,1736358209.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:29.420Z,1736358209.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 8.40 m.
2025-01-08T17:43:29.422Z,1736358209.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 7.428823 m,
      bearing: 131.184880 deg,
      approach rate: -0.626027 m/s,
      LOS rate: 0.482004 deg/s,
      cmd heading: 128.685818 deg,
      new cmd heading: 129.250605 deg.

2025-01-08T17:43:29.424Z,1736358209.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.255849 target range: 8.400000 and range: 8.40 m.
2025-01-08T17:43:29.674Z,1736358209.674 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.491316
2025-01-08T17:43:29.841Z,1736358209.841 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:29.859Z,1736358209.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 8.40 m.
2025-01-08T17:43:29.866Z,1736358209.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 7.152702 m,
      bearing: 131.503178 deg,
      approach rate: -0.628449 m/s,
      LOS rate: 0.752405 deg/s,
      cmd heading: 129.250607 deg,
      new cmd heading: 130.242260 deg.

2025-01-08T17:43:29.866Z,1736358209.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.273156 target range: 8.400000 and range: 8.40 m.
2025-01-08T17:43:29.921Z,1736358209.921 [DAT](INFO): DAT read: Rx Time:17:43:28.7569

2025-01-08T17:43:29.922Z,1736358209.922 [DAT](INFO): Rx dataTimestamp_ set to:1736358209.920907
2025-01-08T17:43:29.922Z,1736358209.922 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.740321
2025-01-08T17:43:30.172Z,1736358210.172 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.990423
2025-01-08T17:43:30.226Z,1736358210.226 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:30.234Z,1736358210.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 8.40 m.
2025-01-08T17:43:30.237Z,1736358210.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 6.905954 m,
      bearing: 131.819374 deg,
      approach rate: -0.656816 m/s,
      LOS rate: 0.871750 deg/s,
      cmd heading: 130.242254 deg,
      new cmd heading: 131.224635 deg.

2025-01-08T17:43:30.238Z,1736358210.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.290302 target range: 8.400000 and range: 8.40 m.
2025-01-08T17:43:30.427Z,1736358210.427 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.244600
2025-01-08T17:43:30.611Z,1736358210.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:30.618Z,1736358210.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:30.621Z,1736358210.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 8.40 m.
2025-01-08T17:43:30.624Z,1736358210.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 6.659124 m,
      bearing: 132.164067 deg,
      approach rate: -0.638867 m/s,
      LOS rate: 0.925229 deg/s,
      cmd heading: 131.224641 deg,
      new cmd heading: 132.296918 deg.

2025-01-08T17:43:30.624Z,1736358210.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.309017 target range: 8.400000 and range: 8.40 m.
2025-01-08T17:43:30.751Z,1736358210.751 [DAT](INFO): DAT read: 17:43:28.7569 LVL= 32752, 32753, 21426, 32755, AGC= 53, IDX= 420, 0.05,-1.943, 2.937,-1.610,-1.890, PHS= 0.036,-1.409, 0.277, RAW= 157.6,  13.8, CAL= 157.8,   5.9, ROT= 352.2,  -5.9

2025-01-08T17:43:30.754Z,1736358210.754 [DAT](INFO): got valid direction response:
 17:43:28.7569 LVL= 32752, 32753, 21426, 32755, AGC= 53, IDX= 420, 0.05,-1.943, 2.937,-1.610,-1.890, PHS= 0.036,-1.409, 0.277, RAW= 157.6,  13.8, CAL= 157.8,   5.9, ROT= 352.2,  -5.9

2025-01-08T17:43:30.761Z,1736358210.761 [DAT](INFO): DAT read: Bearing 352.2,  -5.9 (Local)

2025-01-08T17:43:30.761Z,1736358210.761 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.2,  -5.9 (Local)

2025-01-08T17:43:30.780Z,1736358210.780 [DAT](INFO): DAT read: Range 10 to 50 : 6.4 m  (Round-trip  8.6 ms) speed  0.6 m/s

2025-01-08T17:43:30.781Z,1736358210.781 [DAT](INFO): DAT read: user:348>

2025-01-08T17:43:30.782Z,1736358210.782 [DAT](INFO): DAT read: Tx time:17:43:29.8441

2025-01-08T17:43:30.782Z,1736358210.782 [DAT](INFO): Ping request sent.
2025-01-08T17:43:30.782Z,1736358210.782 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:43:30.799Z,1736358210.799 [DAT](INFO): DAT read: TxSync time:17:43:29.8433

2025-01-08T17:43:30.800Z,1736358210.800 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-01-08T17:43:30.801Z,1736358210.801 [DAT](INFO): direction in FSK: [0.985500,-0.134996,0.102793]
2025-01-08T17:43:30.801Z,1736358210.801 [DAT](INFO): publishing transmit ping time
2025-01-08T17:43:30.802Z,1736358210.802 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:30.809Z,1736358210.809 [DAT](INFO): publishing transmit ping time
2025-01-08T17:43:30.809Z,1736358210.809 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:30.817Z,1736358210.817 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.034597
2025-01-08T17:43:30.928Z,1736358210.928 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.145882
2025-01-08T17:43:31.065Z,1736358211.065 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:31.099Z,1736358211.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.400000 m,
      deltaT: 3.536363 s,
      deltaX: -2.000000 m,
      approachRate: -0.565553 m/s,
      rangeRepo size: 4

2025-01-08T17:43:31.105Z,1736358211.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.400000 m,
      bearing: 122.132654 deg,
      lat: 36.904149 deg,
      lon: -122.119058 deg,
      deltaT: 3.536363 s,
      deltaX: -2.000000 m,
      approachRate: -0.565553 m/s,
      posRepo size: 4

2025-01-08T17:43:31.109Z,1736358211.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.40 m. 8.40 m.
2025-01-08T17:43:31.132Z,1736358211.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 6.365757 m,
      bearing: 132.758979 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.399296 deg/s,
      cmd heading: 132.296912 deg,
      new cmd heading: 131.727349 deg.

2025-01-08T17:43:31.133Z,1736358211.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299076 target range: 8.400000 and range: 6.40 m.
2025-01-08T17:43:31.181Z,1736358211.181 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.398410
2025-01-08T17:43:31.432Z,1736358211.432 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.649992
2025-01-08T17:43:31.498Z,1736358211.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:31.508Z,1736358211.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 8.40 m.
2025-01-08T17:43:31.510Z,1736358211.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 6.086855 m,
      bearing: 133.386374 deg,
      approach rate: -0.679859 m/s,
      LOS rate: 1.599396 deg/s,
      cmd heading: 131.727343 deg,
      new cmd heading: 133.694958 deg.

2025-01-08T17:43:31.511Z,1736358211.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.333417 target range: 8.400000 and range: 6.40 m.
2025-01-08T17:43:31.689Z,1736358211.689 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.906245
2025-01-08T17:43:31.921Z,1736358211.921 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:31.936Z,1736358211.936 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.154002
2025-01-08T17:43:31.940Z,1736358211.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 8.40 m.
2025-01-08T17:43:31.943Z,1736358211.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 5.806942 m,
      bearing: 134.111092 deg,
      approach rate: -0.646545 m/s,
      LOS rate: 1.754601 deg/s,
      cmd heading: 133.694956 deg,
      new cmd heading: 135.972651 deg.

2025-01-08T17:43:31.944Z,1736358211.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.373170 target range: 8.400000 and range: 6.40 m.
2025-01-08T17:43:32.188Z,1736358212.188 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.405784
2025-01-08T17:43:32.244Z,1736358212.244 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:32.253Z,1736358212.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 8.40 m.
2025-01-08T17:43:32.257Z,1736358212.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 5.593950 m,
      bearing: 134.698068 deg,
      approach rate: -0.678327 m/s,
      LOS rate: 1.940523 deg/s,
      cmd heading: 135.972647 deg,
      new cmd heading: 137.799970 deg.

2025-01-08T17:43:32.258Z,1736358212.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.405063 target range: 8.400000 and range: 6.40 m.
2025-01-08T17:43:32.441Z,1736358212.441 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.658498
2025-01-08T17:43:32.655Z,1736358212.655 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:32.687Z,1736358212.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:32.696Z,1736358212.696 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.913275
2025-01-08T17:43:32.699Z,1736358212.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 8.40 m.
2025-01-08T17:43:32.705Z,1736358212.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 5.323474 m,
      bearing: 135.504455 deg,
      approach rate: -0.607632 m/s,
      LOS rate: 1.903553 deg/s,
      cmd heading: 137.799968 deg,
      new cmd heading: 140.340294 deg.

2025-01-08T17:43:32.706Z,1736358212.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.449400 target range: 8.400000 and range: 6.40 m.
2025-01-08T17:43:32.944Z,1736358212.944 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.161864
2025-01-08T17:43:33.134Z,1736358213.134 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:33.146Z,1736358213.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 8.40 m.
2025-01-08T17:43:33.149Z,1736358213.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 5.008877 m,
      bearing: 136.596871 deg,
      approach rate: -0.703721 m/s,
      LOS rate: 2.596942 deg/s,
      cmd heading: 140.340293 deg,
      new cmd heading: 143.818886 deg.

2025-01-08T17:43:33.150Z,1736358213.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.510113 target range: 8.400000 and range: 6.40 m.
2025-01-08T17:43:33.198Z,1736358213.198 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.414988
2025-01-08T17:43:33.448Z,1736358213.448 [DAT](INFO): DAT read: Rx Time:17:43:32.2541

2025-01-08T17:43:33.449Z,1736358213.449 [DAT](INFO): Rx dataTimestamp_ set to:1736358213.448540
2025-01-08T17:43:33.449Z,1736358213.449 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.666935
2025-01-08T17:43:33.454Z,1736358213.454 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:33.487Z,1736358213.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 8.40 m.
2025-01-08T17:43:33.491Z,1736358213.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 4.798999 m,
      bearing: 137.388071 deg,
      approach rate: -0.621822 m/s,
      LOS rate: 2.446584 deg/s,
      cmd heading: 143.818881 deg,
      new cmd heading: 146.294667 deg.

2025-01-08T17:43:33.496Z,1736358213.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.553324 target range: 8.400000 and range: 6.40 m.
2025-01-08T17:43:33.702Z,1736358213.702 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.919574
2025-01-08T17:43:33.909Z,1736358213.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:33.977Z,1736358213.977 [DAT](INFO): DAT read: 17:43:32.2541 LVL= 13184, 30481, 24658, 32755, AGC= 44, IDX= 409, 0.41,-0.680,-2.320,-1.445,-1.490, PHS= 0.898,-0.783, 0.041, RAW= 119.4,  -2.2, CAL= 125.9, -11.4, ROT=  24.1,  11.4

2025-01-08T17:43:33.978Z,1736358213.978 [DAT](INFO): got valid direction response:
 17:43:32.2541 LVL= 13184, 30481, 24658, 32755, AGC= 44, IDX= 409, 0.41,-0.680,-2.320,-1.445,-1.490, PHS= 0.898,-0.783, 0.041, RAW= 119.4,  -2.2, CAL= 125.9, -11.4, ROT=  24.1,  11.4

2025-01-08T17:43:33.979Z,1736358213.979 [DAT](INFO): DAT read: Bearing  24.1,  11.4 (Local)

2025-01-08T17:43:33.981Z,1736358213.981 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.1,  11.4 (Local)

2025-01-08T17:43:33.983Z,1736358213.983 [DAT](INFO): DAT read: Range 10 to 50 : 4.4 m  (Round-trip  5.9 ms) speed  0.5 m/s

2025-01-08T17:43:33.984Z,1736358213.984 [DAT](INFO): DAT read: user:349>

2025-01-08T17:43:33.985Z,1736358213.985 [DAT](INFO): DAT read: Tx time:17:43:33.3441

2025-01-08T17:43:33.985Z,1736358213.985 [DAT](INFO): Ping request sent.
2025-01-08T17:43:33.985Z,1736358213.985 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:43:33.985Z,1736358213.985 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-01-08T17:43:33.986Z,1736358213.986 [DAT](INFO): direction in FSK: [0.894825,0.400275,-0.197657]
2025-01-08T17:43:33.987Z,1736358213.987 [DAT](INFO): publishing transmit ping time
2025-01-08T17:43:33.987Z,1736358213.987 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:33.993Z,1736358213.993 [DAT](INFO): publishing transmit ping time
2025-01-08T17:43:33.994Z,1736358213.994 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:33.997Z,1736358213.997 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.011955
2025-01-08T17:43:34.015Z,1736358214.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.400000 m,
      deltaT: 3.276203 s,
      deltaX: -2.000000 m,
      approachRate: -0.610463 m/s,
      rangeRepo size: 4

2025-01-08T17:43:34.022Z,1736358214.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.400000 m,
      bearing: 157.157226 deg,
      lat: 36.904147 deg,
      lon: -122.119063 deg,
      deltaT: 6.812566 s,
      deltaX: -4.000000 m,
      approachRate: -0.587150 m/s,
      posRepo size: 4

2025-01-08T17:43:34.027Z,1736358214.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.40 m. 8.40 m.
2025-01-08T17:43:34.030Z,1736358214.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 4.505365 m,
      bearing: 138.495594 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.399296 deg/s,
      cmd heading: 146.294661 deg,
      new cmd heading: 145.658210 deg.

2025-01-08T17:43:34.031Z,1736358214.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.542215 target range: 8.400000 and range: 4.40 m.
2025-01-08T17:43:34.205Z,1736358214.205 [DAT](INFO): DAT read: TxSync time:17:43:33.3433

2025-01-08T17:43:34.205Z,1736358214.205 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.220170
2025-01-08T17:43:34.282Z,1736358214.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:34.336Z,1736358214.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 8.40 m.
2025-01-08T17:43:34.338Z,1736358214.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 4.264503 m,
      bearing: 139.481150 deg,
      approach rate: -0.833325 m/s,
      LOS rate: 3.602204 deg/s,
      cmd heading: 145.658210 deg,
      new cmd heading: 148.778632 deg.

2025-01-08T17:43:34.352Z,1736358214.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.596677 target range: 8.400000 and range: 4.40 m.
2025-01-08T17:43:34.457Z,1736358214.457 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.471761
2025-01-08T17:43:34.678Z,1736358214.678 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:34.700Z,1736358214.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:34.703Z,1736358214.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 8.40 m.
2025-01-08T17:43:34.710Z,1736358214.710 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.724890
2025-01-08T17:43:34.728Z,1736358214.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 4.009709 m,
      bearing: 140.608680 deg,
      approach rate: -0.638326 m/s,
      LOS rate: 3.004060 deg/s,
      cmd heading: 148.778637 deg,
      new cmd heading: 152.371223 deg.

2025-01-08T17:43:34.729Z,1736358214.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.659379 target range: 8.400000 and range: 4.40 m.
2025-01-08T17:43:34.961Z,1736358214.961 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.975197
2025-01-08T17:43:35.085Z,1736358215.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:35.094Z,1736358215.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 8.40 m.
2025-01-08T17:43:35.117Z,1736358215.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 3.752316 m,
      bearing: 141.677417 deg,
      approach rate: -0.656999 m/s,
      LOS rate: 2.914919 deg/s,
      cmd heading: 152.371220 deg,
      new cmd heading: 155.793089 deg.

2025-01-08T17:43:35.118Z,1736358215.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.719102 target range: 8.400000 and range: 4.40 m.
2025-01-08T17:43:35.217Z,1736358215.217 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.232098
2025-01-08T17:43:35.465Z,1736358215.465 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:35.468Z,1736358215.468 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.483196
2025-01-08T17:43:35.477Z,1736358215.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 8.40 m.
2025-01-08T17:43:35.480Z,1736358215.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 3.511516 m,
      bearing: 142.725703 deg,
      approach rate: -0.629516 m/s,
      LOS rate: 2.928260 deg/s,
      cmd heading: 155.793091 deg,
      new cmd heading: 159.149574 deg.

2025-01-08T17:43:35.481Z,1736358215.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.777684 target range: 8.400000 and range: 4.40 m.
2025-01-08T17:43:35.724Z,1736358215.724 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.737785
2025-01-08T17:43:35.888Z,1736358215.888 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:35.898Z,1736358215.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 8.40 m.
2025-01-08T17:43:35.901Z,1736358215.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 3.254105 m,
      bearing: 143.751563 deg,
      approach rate: -0.611631 m/s,
      LOS rate: 2.630216 deg/s,
      cmd heading: 159.149568 deg,
      new cmd heading: 162.466708 deg.

2025-01-08T17:43:35.901Z,1736358215.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.835579 target range: 8.400000 and range: 4.40 m.
2025-01-08T17:43:35.973Z,1736358215.973 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.987337
2025-01-08T17:43:36.229Z,1736358216.229 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.243531
2025-01-08T17:43:36.282Z,1736358216.282 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:36.292Z,1736358216.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 8.40 m.
2025-01-08T17:43:36.294Z,1736358216.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 3.013605 m,
      bearing: 144.766356 deg,
      approach rate: -0.610747 m/s,
      LOS rate: 2.782566 deg/s,
      cmd heading: 162.466705 deg,
      new cmd heading: 165.750270 deg.

2025-01-08T17:43:36.296Z,1736358216.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.892888 target range: 8.400000 and range: 4.40 m.
2025-01-08T17:43:36.476Z,1736358216.476 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.491166
2025-01-08T17:43:36.693Z,1736358216.693 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:36.722Z,1736358216.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:36.729Z,1736358216.729 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.743671
2025-01-08T17:43:36.733Z,1736358216.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 8.40 m.
2025-01-08T17:43:36.744Z,1736358216.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 2.762640 m,
      bearing: 145.886276 deg,
      approach rate: -0.569058 m/s,
      LOS rate: 2.769905 deg/s,
      cmd heading: 165.750263 deg,
      new cmd heading: 169.410012 deg.

2025-01-08T17:43:36.747Z,1736358216.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.956763 target range: 8.400000 and range: 4.40 m.
2025-01-08T17:43:36.980Z,1736358216.980 [DAT](INFO): DAT read: Rx Time:17:43:35.7519

2025-01-08T17:43:36.981Z,1736358216.981 [DAT](INFO): Rx dataTimestamp_ set to:1736358216.980486
2025-01-08T17:43:36.981Z,1736358216.981 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.996149
2025-01-08T17:43:37.166Z,1736358217.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:37.180Z,1736358217.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 8.40 m.
2025-01-08T17:43:37.182Z,1736358217.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.400000 m,
      nav range: 2.493643 m,
      bearing: 146.850646 deg,
      approach rate: -0.602333 m/s,
      LOS rate: 2.392226 deg/s,
      cmd heading: 169.410015 deg,
      new cmd heading: 172.611725 deg.

2025-01-08T17:43:37.183Z,1736358217.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.012643 target range: 8.400000 and range: 4.40 m.
2025-01-08T17:43:37.233Z,1736358217.233 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.247695
2025-01-08T17:43:37.485Z,1736358217.485 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m  (Round-trip  3.6 ms) speed  0.3 m/s

2025-01-08T17:43:37.486Z,1736358217.486 [DAT](INFO): DAT read: user:350>

2025-01-08T17:43:37.487Z,1736358217.487 [DAT](INFO): DAT read: Tx time:17:43:36.8442

2025-01-08T17:43:37.487Z,1736358217.487 [DAT](INFO): Ping request sent.
2025-01-08T17:43:37.487Z,1736358217.487 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:43:37.487Z,1736358217.487 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-01-08T17:43:37.488Z,1736358217.488 [DAT](INFO): publishing transmit ping time
2025-01-08T17:43:37.488Z,1736358217.488 [DAT](INFO): publishing transmit ping time
2025-01-08T17:43:37.489Z,1736358217.489 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.002026
2025-01-08T17:43:37.608Z,1736358217.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:37.630Z,1736358217.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 3.530668 s,
      deltaX: -1.700000 m,
      approachRate: -0.481495 m/s,
      rangeRepo size: 4

2025-01-08T17:43:37.631Z,1736358217.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.70 m.
2025-01-08T17:43:37.631Z,1736358217.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-01-08T17:43:37.737Z,1736358217.737 [DAT](INFO): DAT read: TxSync time:17:43:36.8434

2025-01-08T17:43:37.738Z,1736358217.738 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.251042
2025-01-08T17:43:37.988Z,1736358217.988 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.501174
2025-01-08T17:43:38.021Z,1736358218.021 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:38.241Z,1736358218.241 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.754314
2025-01-08T17:43:38.439Z,1736358218.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:38.492Z,1736358218.492 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.005303
2025-01-08T17:43:38.707Z,1736358218.707 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:43:38.744Z,1736358218.744 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.257243
2025-01-08T17:43:38.922Z,1736358218.922 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:38.937Z,1736358218.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:38.997Z,1736358218.997 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.510016
2025-01-08T17:43:39.249Z,1736358219.249 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.761566
2025-01-08T17:43:39.250Z,1736358219.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:39.500Z,1736358219.500 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.013396
2025-01-08T17:43:39.680Z,1736358219.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:39.708Z,1736358219.708 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:43:39.752Z,1736358219.752 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.265263
2025-01-08T17:43:40.005Z,1736358220.005 [DAT](INFO): DAT read: Rx Time:17:43:38.9757 

2025-01-08T17:43:40.005Z,1736358220.005 [DAT](INFO): Rx dataTimestamp_ set to:1736358220.004727
2025-01-08T17:43:40.007Z,1736358220.007 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-01-08T17:43:40.008Z,1736358220.008 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-01-08T17:43:40.009Z,1736358220.009 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.521615
2025-01-08T17:43:40.093Z,1736358220.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:40.102Z,1736358220.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 2.521061 s,
      deltaX: -0.900000 m,
      approachRate: -0.356993 m/s,
      rangeRepo size: 4

2025-01-08T17:43:40.103Z,1736358220.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.80 m.
2025-01-08T17:43:40.103Z,1736358220.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 1.80 m.
2025-01-08T17:43:40.104Z,1736358220.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-01-08T17:43:40.257Z,1736358220.257 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.770014
2025-01-08T17:43:40.509Z,1736358220.509 [DAT](INFO): DAT read: Rx Time:17:43:39.4756 

2025-01-08T17:43:40.509Z,1736358220.509 [DAT](INFO): Rx dataTimestamp_ set to:1736358220.508731
2025-01-08T17:43:40.510Z,1736358220.510 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-01-08T17:43:40.511Z,1736358220.511 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-01-08T17:43:40.512Z,1736358220.512 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.024792
2025-01-08T17:43:40.528Z,1736358220.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:40.562Z,1736358220.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504004 s,
      deltaX: -0.100000 m,
      approachRate: -0.198411 m/s,
      rangeRepo size: 4

2025-01-08T17:43:40.633Z,1736358220.633 [DockingStepper](INFO): Changing to mode: 1
2025-01-08T17:43:40.633Z,1736358220.633 [DockingStepper](INFO): Standby mode.
2025-01-08T17:43:40.696Z,1736358220.696 [DockingStepper](INFO): Commanding positive:54611
2025-01-08T17:43:40.761Z,1736358220.761 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.273507
2025-01-08T17:43:40.979Z,1736358220.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:40.986Z,1736358220.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:41.013Z,1736358221.013 [DAT](INFO): DAT read: Rx Time:17:43:39.9756 

2025-01-08T17:43:41.013Z,1736358221.013 [DAT](INFO): Rx dataTimestamp_ set to:1736358221.012820
2025-01-08T17:43:41.014Z,1736358221.014 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-01-08T17:43:41.015Z,1736358221.015 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-01-08T17:43:41.016Z,1736358221.016 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.528881
2025-01-08T17:43:41.265Z,1736358221.265 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.777503
2025-01-08T17:43:41.330Z,1736358221.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:41.340Z,1736358221.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504089 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-01-08T17:43:41.517Z,1736358221.517 [DAT](INFO): DAT read: Rx Time:17:43:40.4757 

2025-01-08T17:43:41.517Z,1736358221.517 [DAT](INFO): Rx dataTimestamp_ set to:1736358221.517131
2025-01-08T17:43:41.519Z,1736358221.519 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-01-08T17:43:41.519Z,1736358221.519 [DAT](ERROR): #Rx 20: Read range message, but no direction.
2025-01-08T17:43:41.520Z,1736358221.520 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=4.033228
2025-01-08T17:43:41.741Z,1736358221.741 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:41.756Z,1736358221.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.504311 s,
      deltaX: 0.100000 m,
      approachRate: 0.198290 m/s,
      rangeRepo size: 4

2025-01-08T17:43:41.771Z,1736358221.771 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=4.283328
2025-01-08T17:43:42.021Z,1736358222.021 [DAT](INFO): DAT read: Rx Time:17:43:40.9756 

2025-01-08T17:43:42.021Z,1736358222.021 [DAT](INFO): Rx dataTimestamp_ set to:1736358222.021087
2025-01-08T17:43:42.023Z,1736358222.023 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-01-08T17:43:42.024Z,1736358222.024 [DAT](ERROR): #Rx 21: Read range message, but no direction.
2025-01-08T17:43:42.025Z,1736358222.025 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=4.537893
2025-01-08T17:43:42.160Z,1736358222.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:43:42.160Z,1736358222.160 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:42.170Z,1736358222.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503956 s,
      deltaX: -0.100000 m,
      approachRate: -0.198430 m/s,
      rangeRepo size: 4

2025-01-08T17:43:42.272Z,1736358222.272 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=4.785240
2025-01-08T17:43:42.525Z,1736358222.525 [DAT](INFO): DAT read: Rx Time:17:43:41.4760 

2025-01-08T17:43:42.525Z,1736358222.525 [DAT](INFO): Rx dataTimestamp_ set to:1736358222.525053
2025-01-08T17:43:42.527Z,1736358222.527 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:43:42.527Z,1736358222.527 [DAT](ERROR): #Rx 22: Read range message, but no direction.
2025-01-08T17:43:42.528Z,1736358222.528 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=5.041115
2025-01-08T17:43:42.551Z,1736358222.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:43:42.551Z,1736358222.551 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:42.581Z,1736358222.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.503966 s,
      deltaX: 0.600000 m,
      approachRate: 1.190556 m/s,
      rangeRepo size: 4

2025-01-08T17:43:42.777Z,1736358222.777 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=5.289438
2025-01-08T17:43:42.979Z,1736358222.979 [CTD_Seabird](ERROR): Failed to parse device response: 66.06,,3.70756,9067.24
2025-01-08T17:43:43.013Z,1736358223.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:43.020Z,1736358223.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:43.029Z,1736358223.029 [DAT](INFO): DAT read: Rx Time:17:43:41.9758 

2025-01-08T17:43:43.029Z,1736358223.029 [DAT](INFO): Rx dataTimestamp_ set to:1736358223.028743
2025-01-08T17:43:43.030Z,1736358223.030 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-08T17:43:43.031Z,1736358223.031 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-01-08T17:43:43.032Z,1736358223.032 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=5.544784
2025-01-08T17:43:43.282Z,1736358223.282 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=5.794642
2025-01-08T17:43:43.356Z,1736358223.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:43.365Z,1736358223.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503690 s,
      deltaX: -0.300000 m,
      approachRate: -0.595604 m/s,
      rangeRepo size: 4

2025-01-08T17:43:43.533Z,1736358223.533 [DAT](INFO): DAT read: Rx Time:17:43:42.4757 

2025-01-08T17:43:43.533Z,1736358223.533 [DAT](INFO): Rx dataTimestamp_ set to:1736358223.533044
2025-01-08T17:43:43.535Z,1736358223.535 [DAT](INFO): DAT read: Bearing 327.0, -25.2 (Local)

2025-01-08T17:43:43.535Z,1736358223.535 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.0, -25.2 (Local)

2025-01-08T17:43:43.537Z,1736358223.537 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-01-08T17:43:43.543Z,1736358223.543 [DAT](INFO): DAT read: 17:43:42.4757 LVL= 11248, 14289, 14514, 13939, AGC= 40, IDX= 501,-0.02, 1.298, 0.474, 2.419, 2.084, PHS=-0.698,-1.563, 0.332, RAW= 182.9,  22.5, CAL= 183.0,  25.2, ROT= 327.0, -25.2

2025-01-08T17:43:43.544Z,1736358223.544 [DAT](INFO): got valid direction response:
 17:43:42.4757 LVL= 11248, 14289, 14514, 13939, AGC= 40, IDX= 501,-0.02, 1.298, 0.474, 2.419, 2.084, PHS=-0.698,-1.563, 0.332, RAW= 182.9,  22.5, CAL= 183.0,  25.2, ROT= 327.0, -25.2

2025-01-08T17:43:43.545Z,1736358223.545 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-01-08T17:43:43.545Z,1736358223.545 [DAT](INFO): direction in FSK: [0.758852,-0.492804,0.425779]
2025-01-08T17:43:43.546Z,1736358223.546 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:43.549Z,1736358223.549 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=6.062332
2025-01-08T17:43:43.761Z,1736358223.761 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:43.775Z,1736358223.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.504301 s,
      deltaX: -0.200000 m,
      approachRate: -0.396589 m/s,
      rangeRepo size: 4

2025-01-08T17:43:43.777Z,1736358223.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.800000 m,
      bearing: 136.002837 deg,
      lat: 36.904144 deg,
      lon: -122.119063 deg,
      deltaT: 16.392612 s,
      deltaX: -6.599999 m,
      approachRate: -0.402620 m/s,
      posRepo size: 4

2025-01-08T17:43:43.785Z,1736358223.785 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=6.297514
2025-01-08T17:43:44.037Z,1736358224.037 [DAT](INFO): DAT read: Rx Time:17:43:42.9756 

2025-01-08T17:43:44.038Z,1736358224.038 [DAT](INFO): Rx dataTimestamp_ set to:1736358224.037562
2025-01-08T17:43:44.041Z,1736358224.041 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-01-08T17:43:44.042Z,1736358224.042 [DAT](ERROR): #Rx 25: Read range message, but no direction.
2025-01-08T17:43:44.044Z,1736358224.044 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=6.557162
2025-01-08T17:43:44.188Z,1736358224.188 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:44.198Z,1736358224.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504518 s,
      deltaX: -0.100000 m,
      approachRate: -0.198209 m/s,
      rangeRepo size: 4

2025-01-08T17:43:44.288Z,1736358224.288 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=6.801386
2025-01-08T17:43:44.542Z,1736358224.542 [DAT](INFO): DAT read: Rx Time:17:43:43.4757 

2025-01-08T17:43:44.542Z,1736358224.542 [DAT](INFO): Rx dataTimestamp_ set to:1736358224.542111
2025-01-08T17:43:44.544Z,1736358224.544 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-01-08T17:43:44.544Z,1736358224.544 [DAT](ERROR): #Rx 26: Read range message, but no direction.
2025-01-08T17:43:44.545Z,1736358224.545 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=7.058164
2025-01-08T17:43:44.708Z,1736358224.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:44.717Z,1736358224.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.504549 s,
      deltaX: 0.100000 m,
      approachRate: 0.198197 m/s,
      rangeRepo size: 4

2025-01-08T17:43:44.793Z,1736358224.793 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=7.306000
2025-01-08T17:43:45.045Z,1736358225.045 [DAT](INFO): DAT read: Rx Time:17:43:43.9756 

2025-01-08T17:43:45.045Z,1736358225.045 [DAT](INFO): Rx dataTimestamp_ set to:1736358225.045158
2025-01-08T17:43:45.047Z,1736358225.047 [DAT](INFO): DAT read: Bearing 293.6, -38.0 (Local)

2025-01-08T17:43:45.048Z,1736358225.048 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.6, -38.0 (Local)

2025-01-08T17:43:45.050Z,1736358225.050 [DAT](INFO): DAT read: Range 10 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-01-08T17:43:45.063Z,1736358225.063 [DAT](INFO): DAT read: 17:43:43.9756 LVL= 19376, 18369, 22514, 15923, AGC= 43, IDX= 500,-0.08, 2.080, 2.272,-2.956, 3.128, PHS=-0.959,-0.808, 0.196, RAW= 216.9,  27.0, CAL= 216.4,  38.0, ROT= 293.6, -38.0

2025-01-08T17:43:45.064Z,1736358225.064 [DAT](INFO): got valid direction response:
 17:43:43.9756 LVL= 19376, 18369, 22514, 15923, AGC= 43, IDX= 500,-0.08, 2.080, 2.272,-2.956, 3.128, PHS=-0.959,-0.808, 0.196, RAW= 216.9,  27.0, CAL= 216.4,  38.0, ROT= 293.6, -38.0

2025-01-08T17:43:45.065Z,1736358225.065 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-01-08T17:43:45.066Z,1736358225.066 [DAT](INFO): direction in FSK: [0.315479,-0.722104,0.615661]
2025-01-08T17:43:45.066Z,1736358225.066 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:45.069Z,1736358225.069 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.582444
2025-01-08T17:43:45.184Z,1736358225.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:45.214Z,1736358225.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503047 s,
      deltaX: -0.100000 m,
      approachRate: -0.198788 m/s,
      rangeRepo size: 4

2025-01-08T17:43:45.220Z,1736358225.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.700000 m,
      bearing: 104.482022 deg,
      lat: 36.904144 deg,
      lon: -122.119053 deg,
      deltaT: 1.512114 s,
      deltaX: -0.100000 m,
      approachRate: -0.066133 m/s,
      posRepo size: 4

2025-01-08T17:43:45.297Z,1736358225.297 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.809525
2025-01-08T17:43:45.550Z,1736358225.550 [DAT](INFO): DAT read: Rx Time:17:43:44.4758 

2025-01-08T17:43:45.551Z,1736358225.551 [DAT](INFO): Rx dataTimestamp_ set to:1736358225.550246
2025-01-08T17:43:45.552Z,1736358225.552 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-08T17:43:45.552Z,1736358225.552 [DAT](ERROR): #Rx 28: Read range message, but no direction.
2025-01-08T17:43:45.553Z,1736358225.553 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=8.066325
2025-01-08T17:43:45.641Z,1736358225.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:45.657Z,1736358225.657 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:45.665Z,1736358225.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.505088 s,
      deltaX: 0.300000 m,
      approachRate: 0.593956 m/s,
      rangeRepo size: 4

2025-01-08T17:43:45.800Z,1736358225.800 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=8.313181
2025-01-08T17:43:46.053Z,1736358226.053 [DAT](INFO): DAT read: Rx Time:17:43:44.9757 

2025-01-08T17:43:46.053Z,1736358226.053 [DAT](INFO): Rx dataTimestamp_ set to:1736358226.053079
2025-01-08T17:43:46.055Z,1736358226.055 [DAT](INFO): DAT read: Bearing  49.6,  13.9 (Local)

2025-01-08T17:43:46.055Z,1736358226.055 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.6,  13.9 (Local)

2025-01-08T17:43:46.065Z,1736358226.065 [DAT](INFO): DAT read: Range 10 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-01-08T17:43:46.089Z,1736358226.089 [DAT](INFO): DAT read: 17:43:44.9757 LVL= 10464, 25953, 10130, 13395, AGC= 41, IDX= 498, 0.23, 0.639,-1.049,-0.924,-0.551, PHS= 1.279,-0.451,-0.375, RAW=  92.2,  -5.4, CAL= 100.4, -13.9, ROT=  49.6,  13.9

2025-01-08T17:43:46.091Z,1736358226.091 [DAT](INFO): got valid direction response:
 17:43:44.9757 LVL= 10464, 25953, 10130, 13395, AGC= 41, IDX= 498, 0.23, 0.639,-1.049,-0.924,-0.551, PHS= 1.279,-0.451,-0.375, RAW=  92.2,  -5.4, CAL= 100.4, -13.9, ROT=  49.6,  13.9

2025-01-08T17:43:46.092Z,1736358226.092 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-01-08T17:43:46.120Z,1736358226.120 [DAT](INFO): direction in FSK: [0.629141,0.739238,-0.240228]
2025-01-08T17:43:46.120Z,1736358226.120 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:46.136Z,1736358226.136 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=8.649071
2025-01-08T17:43:46.192Z,1736358226.192 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:46.218Z,1736358226.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.502833 s,
      deltaX: -0.200000 m,
      approachRate: -0.397746 m/s,
      rangeRepo size: 4

2025-01-08T17:43:46.225Z,1736358226.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.800000 m,
      bearing: 223.979915 deg,
      lat: 36.904142 deg,
      lon: -122.119071 deg,
      deltaT: 1.007921 s,
      deltaX: 0.100000 m,
      approachRate: 0.099214 m/s,
      posRepo size: 4

2025-01-08T17:43:46.307Z,1736358226.307 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=8.818973
2025-01-08T17:43:46.537Z,1736358226.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:46.547Z,1736358226.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 1.80 m. Lat: 36.904142 Lon: -122.119071 Cable present.
2025-01-08T17:43:46.547Z,1736358226.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-01-08T17:43:46.548Z,1736358226.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-01-08T17:43:46.548Z,1736358226.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-01-08T17:43:46.558Z,1736358226.558 [DAT](INFO): DAT read: Rx Time:17:43:45.4764 

2025-01-08T17:43:46.558Z,1736358226.558 [DAT](INFO): Rx dataTimestamp_ set to:1736358226.557872
2025-01-08T17:43:46.560Z,1736358226.560 [DAT](INFO): DAT read: Bearing  58.5,   9.0 (Local)

2025-01-08T17:43:46.560Z,1736358226.560 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.5,   9.0 (Local)

2025-01-08T17:43:46.562Z,1736358226.562 [DAT](INFO): DAT read: Range 10 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-01-08T17:43:46.567Z,1736358226.567 [DAT](INFO): DAT read: 17:43:45.4764 LVL= 12576, 18609,  9026, 11315, AGC= 39, IDX= 499, 0.00,-1.783, 2.669, 2.460,-3.127, PHS= 1.432,-0.441,-0.700, RAW=  83.6,  -2.9, CAL=  91.5,  -9.0, ROT=  58.5,   9.0

2025-01-08T17:43:46.576Z,1736358226.576 [DAT](INFO): got valid direction response:
 17:43:45.4764 LVL= 12576, 18609,  9026, 11315, AGC= 39, IDX= 499, 0.00,-1.783, 2.669, 2.460,-3.127, PHS= 1.432,-0.441,-0.700, RAW=  83.6,  -2.9, CAL=  91.5,  -9.0, ROT=  58.5,   9.0

2025-01-08T17:43:46.576Z,1736358226.576 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-01-08T17:43:46.577Z,1736358226.577 [DAT](INFO): direction in FSK: [0.516066,0.842143,-0.156434]
2025-01-08T17:43:46.578Z,1736358226.578 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:46.585Z,1736358226.585 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=9.098060
2025-01-08T17:43:46.809Z,1736358226.809 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=9.322175
2025-01-08T17:43:46.909Z,1736358226.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:47.016Z,1736358227.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-01-08T17:43:47.016Z,1736358227.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-01-08T17:43:47.016Z,1736358227.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-01-08T17:43:47.052Z,1736358227.052 [DockingStepper](INFO): Pause
2025-01-08T17:43:47.061Z,1736358227.061 [DAT](INFO): DAT read: Rx Time:17:43:45.9764 

2025-01-08T17:43:47.061Z,1736358227.061 [DAT](INFO): Rx dataTimestamp_ set to:1736358227.061215
2025-01-08T17:43:47.063Z,1736358227.063 [DAT](INFO): DAT read: Bearing  55.2,   3.7 (Local)

2025-01-08T17:43:47.063Z,1736358227.063 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.2,   3.7 (Local)

2025-01-08T17:43:47.065Z,1736358227.065 [DAT](INFO): DAT read: Range 10 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-01-08T17:43:47.073Z,1736358227.073 [DAT](INFO): DAT read: 17:43:45.9764 LVL= 13008, 16257, 10034, 12083, AGC= 38, IDX= 499,-0.40,-3.025, 1.540, 1.506, 2.156, PHS= 1.190,-0.569,-0.653, RAW=  87.7,   0.4, CAL=  94.8,  -3.7, ROT=  55.2,   3.7

2025-01-08T17:43:47.075Z,1736358227.075 [DAT](INFO): got valid direction response:
 17:43:45.9764 LVL= 13008, 16257, 10034, 12083, AGC= 38, IDX= 499,-0.40,-3.025, 1.540, 1.506, 2.156, PHS= 1.190,-0.569,-0.653, RAW=  87.7,   0.4, CAL=  94.8,  -3.7, ROT=  55.2,   3.7

2025-01-08T17:43:47.081Z,1736358227.081 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-01-08T17:43:47.082Z,1736358227.082 [DAT](INFO): direction in FSK: [0.569524,0.819438,-0.064532]
2025-01-08T17:43:47.082Z,1736358227.082 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:47.091Z,1736358227.091 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=9.603798
2025-01-08T17:43:47.299Z,1736358227.299 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:47.312Z,1736358227.312 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=9.825316
2025-01-08T17:43:47.314Z,1736358227.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-01-08T17:43:47.315Z,1736358227.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-01-08T17:43:47.316Z,1736358227.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-01-08T17:43:47.316Z,1736358227.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-01-08T17:43:47.316Z,1736358227.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-01-08T17:43:47.316Z,1736358227.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-01-08T17:43:47.316Z,1736358227.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-01-08T17:43:47.316Z,1736358227.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-01-08T17:43:47.316Z,1736358227.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-01-08T17:43:47.316Z,1736358227.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-01-08T17:43:47.316Z,1736358227.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-01-08T17:43:47.565Z,1736358227.565 [DAT](INFO): DAT read: Rx Time:17:43:46.4765 

2025-01-08T17:43:47.565Z,1736358227.565 [DAT](INFO): Rx dataTimestamp_ set to:1736358227.564998
2025-01-08T17:43:47.567Z,1736358227.567 [DAT](INFO): DAT read: Bearing 182.4, -27.5 (Local)

2025-01-08T17:43:47.567Z,1736358227.567 [DAT](INFO): Local bearing/azimuth received:
 Bearing 182.4, -27.5 (Local)

2025-01-08T17:43:47.569Z,1736358227.569 [DAT](INFO): DAT read: Range 10 to 50 :     3.0 m (trip time 2.0 ms) speed 0.0

2025-01-08T17:43:47.574Z,1736358227.574 [DAT](INFO): DAT read: 17:43:46.4765 LVL= 15088, 12385, 10802, 12179, AGC= 39, IDX= 505, 0.01,-2.745,-0.895,-2.462,-1.277, PHS=-1.380, 0.430,-1.187, RAW= 324.4,  23.7, CAL= 327.6,  27.5, ROT= 182.4, -27.5

2025-01-08T17:43:47.576Z,1736358227.576 [DAT](INFO): got valid direction response:
 17:43:46.4765 LVL= 15088, 12385, 10802, 12179, AGC= 39, IDX= 505, 0.01,-2.745,-0.895,-2.462,-1.277, PHS=-1.380, 0.430,-1.187, RAW= 324.4,  23.7, CAL= 327.6,  27.5, ROT= 182.4, -27.5

2025-01-08T17:43:47.576Z,1736358227.576 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-01-08T17:43:47.577Z,1736358227.577 [DAT](INFO): direction in FSK: [-0.886233,-0.037144,0.461749]
2025-01-08T17:43:47.578Z,1736358227.578 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:47.581Z,1736358227.581 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=10.094130
2025-01-08T17:43:47.705Z,1736358227.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:47.720Z,1736358227.720 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-01-08T17:43:47.721Z,1736358227.721 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-01-08T17:43:47.721Z,1736358227.721 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-01-08T17:43:47.721Z,1736358227.721 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-01-08T17:43:47.721Z,1736358227.721 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-01-08T17:43:47.721Z,1736358227.721 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-01-08T17:43:47.722Z,1736358227.722 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with  1.000000 count pings.
2025-01-08T17:43:47.722Z,1736358227.722 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-01-08T17:43:47.722Z,1736358227.722 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-01-08T17:43:47.736Z,1736358227.736 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-01-08T17:43:47.736Z,1736358227.736 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-01-08T17:43:47.736Z,1736358227.736 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-01-08T17:43:47.737Z,1736358227.737 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-01-08T17:43:47.737Z,1736358227.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-01-08T17:43:47.737Z,1736358227.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-01-08T17:43:47.737Z,1736358227.737 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-01-08T17:43:47.737Z,1736358227.737 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-01-08T17:43:47.817Z,1736358227.817 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=10.329519
2025-01-08T17:43:48.075Z,1736358228.075 [DAT](INFO): DAT read: Rx Time:17:43:46.9764 

2025-01-08T17:43:48.075Z,1736358228.075 [DAT](INFO): Rx dataTimestamp_ set to:1736358228.075043
2025-01-08T17:43:48.077Z,1736358228.077 [DAT](INFO): DAT read: Bearing 183.2, -28.9 (Local)

2025-01-08T17:43:48.077Z,1736358228.077 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.2, -28.9 (Local)

2025-01-08T17:43:48.080Z,1736358228.080 [DAT](INFO): DAT read: Range 10 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-01-08T17:43:48.088Z,1736358228.088 [DAT](INFO): DAT read: 17:43:46.9764 LVL= 14832, 13169, 10258, 11651, AGC= 39, IDX= 504, 0.13, 1.949,-2.549, 2.251,-2.851, PHS=-1.395, 0.349,-1.185, RAW= 323.6,  25.6, CAL= 326.8,  28.9, ROT= 183.2, -28.9

2025-01-08T17:43:48.090Z,1736358228.090 [DAT](INFO): got valid direction response:
 17:43:46.9764 LVL= 14832, 13169, 10258, 11651, AGC= 39, IDX= 504, 0.13, 1.949,-2.549, 2.251,-2.851, PHS=-1.395, 0.349,-1.185, RAW= 323.6,  25.6, CAL= 326.8,  28.9, ROT= 183.2, -28.9

2025-01-08T17:43:48.091Z,1736358228.091 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-01-08T17:43:48.096Z,1736358228.096 [DAT](INFO): direction in FSK: [-0.874099,-0.048870,0.483282]
2025-01-08T17:43:48.097Z,1736358228.097 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:48.105Z,1736358228.105 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=10.617659
2025-01-08T17:43:48.200Z,1736358228.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:48.218Z,1736358228.218 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-01-08T17:43:48.219Z,1736358228.219 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-01-08T17:43:48.320Z,1736358228.320 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=10.833239
2025-01-08T17:43:48.560Z,1736358228.560 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:48.570Z,1736358228.570 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-01-08T17:43:48.570Z,1736358228.570 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-01-08T17:43:48.570Z,1736358228.570 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-01-08T17:43:48.571Z,1736358228.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:48.573Z,1736358228.573 [DAT](INFO): DAT read: Rx Time:17:43:47.4764 

2025-01-08T17:43:48.574Z,1736358228.574 [DAT](INFO): Rx dataTimestamp_ set to:1736358228.573687
2025-01-08T17:43:48.575Z,1736358228.575 [DAT](INFO): DAT read: Bearing 185.3, -30.6 (Local)

2025-01-08T17:43:48.576Z,1736358228.576 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.3, -30.6 (Local)

2025-01-08T17:43:48.578Z,1736358228.578 [DAT](INFO): DAT read: Range 10 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-01-08T17:43:48.583Z,1736358228.583 [DAT](INFO): DAT read: 17:43:47.4764 LVL= 12784, 12561, 11570, 11475, AGC= 38, IDX= 504, 0.31, 1.421,-3.088, 1.800, 2.987, PHS=-1.478, 0.255,-1.189, RAW= 321.1,  27.9, CAL= 324.7,  30.6, ROT= 185.3, -30.6

2025-01-08T17:43:48.584Z,1736358228.584 [DAT](INFO): got valid direction response:
 17:43:47.4764 LVL= 12784, 12561, 11570, 11475, AGC= 38, IDX= 504, 0.31, 1.421,-3.088, 1.800, 2.987, PHS=-1.478, 0.255,-1.189, RAW= 321.1,  27.9, CAL= 324.7,  30.6, ROT= 185.3, -30.6

2025-01-08T17:43:48.584Z,1736358228.584 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-01-08T17:43:48.585Z,1736358228.585 [DAT](INFO): direction in FSK: [-0.857062,-0.079507,0.509041]
2025-01-08T17:43:48.585Z,1736358228.585 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:48.590Z,1736358228.590 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=11.102572
2025-01-08T17:43:48.824Z,1736358228.824 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=11.337289
2025-01-08T17:43:48.894Z,1736358228.894 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:49.079Z,1736358229.079 [DAT](INFO): DAT read: Rx Time:17:43:47.9759 

2025-01-08T17:43:49.080Z,1736358229.080 [DAT](INFO): Rx dataTimestamp_ set to:1736358229.079359
2025-01-08T17:43:49.081Z,1736358229.081 [DAT](INFO): DAT read: Bearing 191.1, -33.7 (Local)

2025-01-08T17:43:49.081Z,1736358229.081 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.1, -33.7 (Local)

2025-01-08T17:43:49.087Z,1736358229.087 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:43:49.109Z,1736358229.109 [DAT](INFO): DAT read: 17:43:47.9759 LVL= 12464, 14289, 13170, 13363, AGC= 39, IDX= 504,-0.28, 2.063,-2.451, 2.656,-2.484, PHS=-1.648, 0.080,-1.146, RAW= 313.6,  31.9, CAL= 318.9,  33.7, ROT= 191.1, -33.7

2025-01-08T17:43:49.110Z,1736358229.110 [DAT](INFO): got valid direction response:
 17:43:47.9759 LVL= 12464, 14289, 13170, 13363, AGC= 39, IDX= 504,-0.28, 2.063,-2.451, 2.656,-2.484, PHS=-1.648, 0.080,-1.146, RAW= 313.6,  31.9, CAL= 318.9,  33.7, ROT= 191.1, -33.7

2025-01-08T17:43:49.110Z,1736358229.110 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-01-08T17:43:49.120Z,1736358229.120 [DAT](INFO): direction in FSK: [-0.816390,-0.160170,0.554844]
2025-01-08T17:43:49.120Z,1736358229.120 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:49.129Z,1736358229.129 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=11.641578
2025-01-08T17:43:49.321Z,1736358229.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:49.328Z,1736358229.328 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=11.841307
2025-01-08T17:43:49.580Z,1736358229.580 [DAT](INFO): DAT read: Rx Time:17:43:48.4760 

2025-01-08T17:43:49.581Z,1736358229.581 [DAT](INFO): Rx dataTimestamp_ set to:1736358229.580619
2025-01-08T17:43:49.582Z,1736358229.582 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:43:49.583Z,1736358229.583 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-01-08T17:43:49.584Z,1736358229.584 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=12.096712
2025-01-08T17:43:49.705Z,1736358229.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:49.833Z,1736358229.833 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=12.345504
2025-01-08T17:43:50.087Z,1736358230.087 [DAT](INFO): DAT read: Rx Time:17:43:48.9759 

2025-01-08T17:43:50.088Z,1736358230.088 [DAT](INFO): Rx dataTimestamp_ set to:1736358230.087211
2025-01-08T17:43:50.090Z,1736358230.090 [DAT](INFO): DAT read: Bearing  65.5,  15.4 (Local)

2025-01-08T17:43:50.090Z,1736358230.090 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.5,  15.4 (Local)

2025-01-08T17:43:50.095Z,1736358230.095 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:43:50.108Z,1736358230.108 [DAT](INFO): DAT read: 17:43:48.9759 LVL= 10336, 16881, 14498, 14611, AGC= 42, IDX= 497, 0.15,-0.770,-2.530, 3.136,-2.380, PHS= 1.698,-0.104,-0.770, RAW=  74.9,  -7.5, CAL=  84.5, -15.4, ROT=  65.5,  15.4

2025-01-08T17:43:50.109Z,1736358230.109 [DAT](INFO): got valid direction response:
 17:43:48.9759 LVL= 10336, 16881, 14498, 14611, AGC= 42, IDX= 497, 0.15,-0.770,-2.530, 3.136,-2.380, PHS= 1.698,-0.104,-0.770, RAW=  74.9,  -7.5, CAL=  84.5, -15.4, ROT=  65.5,  15.4

2025-01-08T17:43:50.110Z,1736358230.110 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-01-08T17:43:50.111Z,1736358230.111 [DAT](INFO): direction in FSK: [0.399804,0.877289,-0.265556]
2025-01-08T17:43:50.111Z,1736358230.111 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:50.114Z,1736358230.114 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=12.627343
2025-01-08T17:43:50.198Z,1736358230.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:50.336Z,1736358230.336 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=12.849208
2025-01-08T17:43:50.524Z,1736358230.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:50.589Z,1736358230.589 [DAT](INFO): DAT read: Rx Time:17:43:49.4760 

2025-01-08T17:43:50.590Z,1736358230.590 [DAT](INFO): Rx dataTimestamp_ set to:1736358230.589808
2025-01-08T17:43:50.592Z,1736358230.592 [DAT](INFO): DAT read: Bearing  66.7,  13.9 (Local)

2025-01-08T17:43:50.592Z,1736358230.592 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.7,  13.9 (Local)

2025-01-08T17:43:50.594Z,1736358230.594 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:43:50.600Z,1736358230.600 [DAT](INFO): DAT read: 17:43:49.4760 LVL= 10912, 18977, 13522, 14611, AGC= 42, IDX= 498, 0.26,-0.387,-2.070,-2.697,-1.907, PHS= 1.608,-0.116,-0.794, RAW=  74.1,  -6.6, CAL=  83.3, -13.9, ROT=  66.7,  13.9

2025-01-08T17:43:50.601Z,1736358230.601 [DAT](INFO): got valid direction response:
 17:43:49.4760 LVL= 10912, 18977, 13522, 14611, AGC= 42, IDX= 498, 0.26,-0.387,-2.070,-2.697,-1.907, PHS= 1.608,-0.116,-0.794, RAW=  74.1,  -6.6, CAL=  83.3, -13.9, ROT=  66.7,  13.9

2025-01-08T17:43:50.601Z,1736358230.601 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-01-08T17:43:50.602Z,1736358230.602 [DAT](INFO): direction in FSK: [0.383963,0.891551,-0.240228]
2025-01-08T17:43:50.602Z,1736358230.602 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:50.607Z,1736358230.607 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=13.119560
2025-01-08T17:43:50.841Z,1736358230.841 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=13.354256
2025-01-08T17:43:50.917Z,1736358230.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:51.093Z,1736358231.093 [DAT](INFO): DAT read: Rx Time:17:43:49.9759 

2025-01-08T17:43:51.093Z,1736358231.093 [DAT](INFO): Rx dataTimestamp_ set to:1736358231.093045
2025-01-08T17:43:51.095Z,1736358231.095 [DAT](INFO): DAT read: Bearing  67.0,  14.9 (Local)

2025-01-08T17:43:51.095Z,1736358231.095 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.0,  14.9 (Local)

2025-01-08T17:43:51.097Z,1736358231.097 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:43:51.109Z,1736358231.109 [DAT](INFO): DAT read: 17:43:49.9759 LVL= 13904, 21345, 15090, 15779, AGC= 43, IDX= 498,-0.49, 2.033, 0.348,-0.316, 0.472, PHS= 1.650,-0.077,-0.790, RAW=  73.5,  -7.3, CAL=  83.0, -14.9, ROT=  67.0,  14.9

2025-01-08T17:43:51.111Z,1736358231.111 [DAT](INFO): got valid direction response:
 17:43:49.9759 LVL= 13904, 21345, 15090, 15779, AGC= 43, IDX= 498,-0.49, 2.033, 0.348,-0.316, 0.472, PHS= 1.650,-0.077,-0.790, RAW=  73.5,  -7.3, CAL=  83.0, -14.9, ROT=  67.0,  14.9

2025-01-08T17:43:51.124Z,1736358231.124 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-01-08T17:43:51.125Z,1736358231.125 [DAT](INFO): direction in FSK: [0.377593,0.889554,-0.257133]
2025-01-08T17:43:51.125Z,1736358231.125 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:51.133Z,1736358231.133 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=13.646041
2025-01-08T17:43:51.344Z,1736358231.344 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=13.857303
2025-01-08T17:43:51.343Z,1736358231.343 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:51.399Z,1736358231.399 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-01-08T17:43:51.399Z,1736358231.399 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-01-08T17:43:51.399Z,1736358231.399 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-01-08T17:43:51.400Z,1736358231.400 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-01-08T17:43:51.597Z,1736358231.597 [DAT](INFO): DAT read: Rx Time:17:43:50.4760 

2025-01-08T17:43:51.597Z,1736358231.597 [DAT](INFO): Rx dataTimestamp_ set to:1736358231.597089
2025-01-08T17:43:51.599Z,1736358231.599 [DAT](INFO): DAT read: Bearing  71.8,   8.7 (Local)

2025-01-08T17:43:51.599Z,1736358231.599 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.8,   8.7 (Local)

2025-01-08T17:43:51.601Z,1736358231.601 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:43:51.607Z,1736358231.607 [DAT](INFO): DAT read: 17:43:50.4760 LVL= 15648, 22513, 19170, 18627, AGC= 43, IDX= 499, 0.30, 2.513, 1.028, 0.330, 1.228, PHS= 1.373,-0.153,-0.901, RAW=  71.2,  -3.2, CAL=  78.2,  -8.7, ROT=  71.8,   8.7

2025-01-08T17:43:51.608Z,1736358231.608 [DAT](INFO): got valid direction response:
 17:43:50.4760 LVL= 15648, 22513, 19170, 18627, AGC= 43, IDX= 499, 0.30, 2.513, 1.028, 0.330, 1.228, PHS= 1.373,-0.153,-0.901, RAW=  71.2,  -3.2, CAL=  78.2,  -8.7, ROT=  71.8,   8.7

2025-01-08T17:43:51.608Z,1736358231.608 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-01-08T17:43:51.609Z,1736358231.609 [DAT](INFO): direction in FSK: [0.308741,0.939042,-0.151261]
2025-01-08T17:43:51.609Z,1736358231.609 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:51.613Z,1736358231.613 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=14.126427
2025-01-08T17:43:51.729Z,1736358231.729 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:51.763Z,1736358231.763 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 
2025-01-08T17:43:51.763Z,1736358231.763 [lineCaptureHoming:LineCapture:M] Stopped
2025-01-08T17:43:51.766Z,1736358231.766 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-01-08T17:43:51.766Z,1736358231.766 [lineCaptureHoming:LineCapture] Stopped
2025-01-08T17:43:51.766Z,1736358231.766 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-01-08T17:43:51.766Z,1736358231.766 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-01-08T17:43:51.766Z,1736358231.766 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-01-08T17:43:51.766Z,1736358231.766 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-01-08T17:43:51.766Z,1736358231.766 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-01-08T17:43:51.766Z,1736358231.766 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-01-08T17:43:51.766Z,1736358231.766 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-01-08T17:43:51.766Z,1736358231.766 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-01-08T17:43:51.766Z,1736358231.766 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-01-08T17:43:51.766Z,1736358231.766 [lineCaptureHoming:LineCapture:G] Stopped
2025-01-08T17:43:51.766Z,1736358231.766 [lineCaptureHoming:LineCapture:H] Stopped
2025-01-08T17:43:51.766Z,1736358231.766 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-01-08T17:43:51.767Z,1736358231.767 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-01-08T17:43:51.767Z,1736358231.767 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-01-08T17:43:51.767Z,1736358231.767 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-01-08T17:43:51.767Z,1736358231.767 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-01-08T17:43:51.767Z,1736358231.767 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-01-08T17:43:51.772Z,1736358231.772 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-01-08T17:43:51.772Z,1736358231.772 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-01-08T17:43:51.772Z,1736358231.772 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-01-08T17:43:51.848Z,1736358231.848 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=14.361340
2025-01-08T17:43:52.101Z,1736358232.101 [DAT](INFO): DAT read: Rx Time:17:43:50.9759 

2025-01-08T17:43:52.101Z,1736358232.101 [DAT](INFO): Rx dataTimestamp_ set to:1736358232.101142
2025-01-08T17:43:52.103Z,1736358232.103 [DAT](INFO): DAT read: Bearing  86.8, -10.7 (Local)

2025-01-08T17:43:52.103Z,1736358232.103 [DAT](INFO): Local bearing/azimuth received:
 Bearing  86.8, -10.7 (Local)

2025-01-08T17:43:52.105Z,1736358232.105 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:43:52.110Z,1736358232.110 [DAT](INFO): DAT read: 17:43:50.9759 LVL= 18112, 24129, 22130, 21299, AGC= 43, IDX= 499,-0.17, 0.956, 0.090,-0.601, 0.373, PHS= 0.671,-0.236,-0.977, RAW=  63.3,   7.6, CAL=  63.2,  10.7, ROT=  86.8, -10.7

2025-01-08T17:43:52.111Z,1736358232.111 [DAT](INFO): got valid direction response:
 17:43:50.9759 LVL= 18112, 24129, 22130, 21299, AGC= 43, IDX= 499,-0.17, 0.956, 0.090,-0.601, 0.373, PHS= 0.671,-0.236,-0.977, RAW=  63.3,   7.6, CAL=  63.2,  10.7, ROT=  86.8, -10.7

2025-01-08T17:43:52.112Z,1736358232.112 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-01-08T17:43:52.112Z,1736358232.112 [DAT](INFO): direction in FSK: [0.054851,0.981081,0.185667]
2025-01-08T17:43:52.113Z,1736358232.113 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:52.118Z,1736358232.118 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=14.630538
2025-01-08T17:43:52.248Z,1736358232.248 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:52.258Z,1736358232.258 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-01-08T17:43:52.259Z,1736358232.259 [lineCaptureHoming:Lap:B] Stopped
2025-01-08T17:43:52.259Z,1736358232.259 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-01-08T17:43:52.259Z,1736358232.259 [lineCaptureHoming:Lap:C] Running Loop=1
2025-01-08T17:43:52.352Z,1736358232.352 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=14.865268
2025-01-08T17:43:52.535Z,1736358232.535 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:52.542Z,1736358232.542 [lineCaptureHoming:Lap:C] Stopped
2025-01-08T17:43:52.542Z,1736358232.542 [lineCaptureHoming:Lap:D] Running Loop=1
2025-01-08T17:43:52.543Z,1736358232.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:52.605Z,1736358232.605 [DAT](INFO): DAT read: Rx Time:17:43:51.4759 

2025-01-08T17:43:52.606Z,1736358232.606 [DAT](INFO): Rx dataTimestamp_ set to:1736358232.605257
2025-01-08T17:43:52.608Z,1736358232.608 [DAT](INFO): DAT read: Bearing  92.3, -17.1 (Local)

2025-01-08T17:43:52.608Z,1736358232.608 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.3, -17.1 (Local)

2025-01-08T17:43:52.610Z,1736358232.610 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:43:52.615Z,1736358232.615 [DAT](INFO): DAT read: 17:43:51.4759 LVL= 18464, 32753, 30770, 26515, AGC= 43, IDX= 499, 0.00, 0.305,-0.367,-1.042,-0.097, PHS= 0.490,-0.223,-0.948, RAW=  59.7,  10.9, CAL=  57.7,  17.1, ROT=  92.3, -17.1

2025-01-08T17:43:52.616Z,1736358232.616 [DAT](INFO): got valid direction response:
 17:43:51.4759 LVL= 18464, 32753, 30770, 26515, AGC= 43, IDX= 499, 0.00, 0.305,-0.367,-1.042,-0.097, PHS= 0.490,-0.223,-0.948, RAW=  59.7,  10.9, CAL=  57.7,  17.1, ROT=  92.3, -17.1

2025-01-08T17:43:52.616Z,1736358232.616 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-01-08T17:43:52.617Z,1736358232.617 [DAT](INFO): direction in FSK: [-0.038358,0.955023,0.294040]
2025-01-08T17:43:52.617Z,1736358232.617 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:52.621Z,1736358232.621 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=15.134266
2025-01-08T17:43:52.857Z,1736358232.857 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=15.369904
2025-01-08T17:43:52.944Z,1736358232.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:52.984Z,1736358232.984 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 
2025-01-08T17:43:52.984Z,1736358232.984 [lineCaptureHoming:Lap:D] Stopped
2025-01-08T17:43:52.984Z,1736358232.984 [lineCaptureHoming:Lap:E] Running Loop=1
2025-01-08T17:43:52.984Z,1736358232.984 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-01-08T17:43:53.109Z,1736358233.109 [DAT](INFO): DAT read: Rx Time:17:43:51.9758 

2025-01-08T17:43:53.109Z,1736358233.109 [DAT](INFO): Rx dataTimestamp_ set to:1736358233.109216
2025-01-08T17:43:53.111Z,1736358233.111 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-08T17:43:53.111Z,1736358233.111 [DAT](ERROR): #Rx 43: Read range message, but no direction.
2025-01-08T17:43:53.112Z,1736358233.112 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=15.625299
2025-01-08T17:43:53.354Z,1736358233.354 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:53.360Z,1736358233.360 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=15.873337
2025-01-08T17:43:53.389Z,1736358233.389 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-01-08T17:43:53.390Z,1736358233.390 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-01-08T17:43:53.390Z,1736358233.390 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-01-08T17:43:53.390Z,1736358233.390 [lineCaptureHoming:restartDHCP:A](IMPORTANT): Restarting DHCP...
2025-01-08T17:43:53.390Z,1736358233.390 [lineCaptureHoming:restartDHCP:A] Stopped
2025-01-08T17:43:53.390Z,1736358233.390 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-01-08T17:43:53.612Z,1736358233.612 [DAT](INFO): DAT read: Rx Time:17:43:52.4760 

2025-01-08T17:43:53.613Z,1736358233.613 [DAT](INFO): Rx dataTimestamp_ set to:1736358233.612645
2025-01-08T17:43:53.614Z,1736358233.614 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:43:53.615Z,1736358233.615 [DAT](ERROR): #Rx 44: Read range message, but no direction.
2025-01-08T17:43:53.616Z,1736358233.616 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=16.128773
2025-01-08T17:43:53.748Z,1736358233.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:53.754Z,1736358233.754 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-01-08T17:43:53.755Z,1736358233.755 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-01-08T17:43:53.755Z,1736358233.755 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-01-08T17:43:53.755Z,1736358233.755 [lineCaptureHoming:restartDHCP] Stopped
2025-01-08T17:43:53.755Z,1736358233.755 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-01-08T17:43:53.825Z,1736358233.825 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-01-08T17:43:53.865Z,1736358233.865 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=16.378031
2025-01-08T17:43:54.118Z,1736358234.118 [DAT](INFO): DAT read: Rx Time:17:43:52.9759 

2025-01-08T17:43:54.120Z,1736358234.120 [DAT](INFO): Rx dataTimestamp_ set to:1736358234.118875
2025-01-08T17:43:54.121Z,1736358234.121 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:43:54.122Z,1736358234.122 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-01-08T17:43:54.124Z,1736358234.124 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=16.636862
2025-01-08T17:43:54.298Z,1736358234.298 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:54.332Z,1736358234.332 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-01-08UTC174354_sh
  
2025-01-08T17:43:54.342Z,1736358234.342 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-01-08T17:43:54.342Z,1736358234.342 [lineCaptureHoming:Lap:E] Stopped
2025-01-08T17:43:54.342Z,1736358234.342 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-01-08T17:43:54.342Z,1736358234.342 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-01-08T17:43:54.342Z,1736358234.342 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-01-08T17:43:54.342Z,1736358234.342 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-01-08T17:43:54.368Z,1736358234.368 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=16.881325
2025-01-08T17:43:54.570Z,1736358234.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:54.595Z,1736358234.595 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for  8.000000 min 
2025-01-08T17:43:54.595Z,1736358234.595 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-01-08T17:43:54.618Z,1736358234.618 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-01-08T17:43:54.619Z,1736358234.619 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:43:54.621Z,1736358234.621 [DAT](INFO): DAT read: Rx Time:17:43:53.4760 

2025-01-08T17:43:54.622Z,1736358234.622 [DAT](INFO): Rx dataTimestamp_ set to:1736358234.621383
2025-01-08T17:43:54.624Z,1736358234.624 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:43:54.625Z,1736358234.625 [DAT](ERROR): #Rx 46: Read range message, but no direction.
2025-01-08T17:43:54.633Z,1736358234.633 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=17.145407
2025-01-08T17:43:54.873Z,1736358234.873 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=17.385315
2025-01-08T17:43:54.969Z,1736358234.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:54.998Z,1736358234.998 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-01-08T17:43:54.998Z,1736358234.998 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-01-08T17:43:55.124Z,1736358235.124 [DAT](INFO): DAT read: Rx Time:17:43:53.9759 

2025-01-08T17:43:55.125Z,1736358235.125 [DAT](INFO): Rx dataTimestamp_ set to:1736358235.124673
2025-01-08T17:43:55.126Z,1736358235.126 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed -0.1

2025-01-08T17:43:55.127Z,1736358235.127 [DAT](ERROR): #Rx 47: Read range message, but no direction.
2025-01-08T17:43:55.128Z,1736358235.128 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=17.641346
2025-01-08T17:43:55.377Z,1736358235.377 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=17.889713
2025-01-08T17:43:55.437Z,1736358235.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:55.480Z,1736358235.480 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-01-08T17:43:55.480Z,1736358235.480 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-01-08T17:43:55.480Z,1736358235.480 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-01-08T17:43:55.480Z,1736358235.480 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-01-08T17:43:55.628Z,1736358235.628 [DAT](INFO): DAT read: Rx Time:17:43:54.4760 

2025-01-08T17:43:55.629Z,1736358235.629 [DAT](INFO): Rx dataTimestamp_ set to:1736358235.628650
2025-01-08T17:43:55.630Z,1736358235.630 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed -0.1

2025-01-08T17:43:55.631Z,1736358235.631 [DAT](ERROR): #Rx 48: Read range message, but no direction.
2025-01-08T17:43:55.632Z,1736358235.632 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=18.144863
2025-01-08T17:43:55.777Z,1736358235.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:55.785Z,1736358235.785 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 3 to 1
2025-01-08T17:43:55.786Z,1736358235.786 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): No local IP found
2025-01-08T17:43:55.799Z,1736358235.799 [DockingStepper](INFO): Resume
2025-01-08T17:43:55.880Z,1736358235.880 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=18.393244
2025-01-08T17:43:56.133Z,1736358236.133 [DAT](INFO): DAT read: Rx Time:17:43:54.9760 

2025-01-08T17:43:56.133Z,1736358236.133 [DAT](INFO): Rx dataTimestamp_ set to:1736358236.132831
2025-01-08T17:43:56.134Z,1736358236.134 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:43:56.135Z,1736358236.135 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-01-08T17:43:56.136Z,1736358236.136 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=18.648975
2025-01-08T17:43:56.238Z,1736358236.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:56.284Z,1736358236.284 [DockingStepper](INFO): Resuming
2025-01-08T17:43:56.384Z,1736358236.384 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=18.897245
2025-01-08T17:43:56.385Z,1736358236.385 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-01-08T17:43:56.598Z,1736358236.598 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:56.616Z,1736358236.616 [DockingStepper](INFO): Start
2025-01-08T17:43:56.616Z,1736358236.616 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-01-08T17:43:56.636Z,1736358236.636 [DAT](INFO): DAT read: Rx Time:17:43:55.4760 

2025-01-08T17:43:56.637Z,1736358236.637 [DAT](INFO): Rx dataTimestamp_ set to:1736358236.636676
2025-01-08T17:43:56.638Z,1736358236.638 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:43:56.648Z,1736358236.648 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-01-08T17:43:56.649Z,1736358236.649 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=19.161493
2025-01-08T17:43:56.649Z,1736358236.649 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-01-08T17:43:56.736Z,1736358236.736 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-01-08T17:43:56.888Z,1736358236.888 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=19.401394
2025-01-08T17:43:56.889Z,1736358236.889 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-01-08T17:43:56.986Z,1736358236.986 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:57.135Z,1736358237.135 [DockingStepper](INFO): Starting
2025-01-08T17:43:57.146Z,1736358237.146 [DAT](INFO): DAT read: Rx Time:17:43:55.9759 

2025-01-08T17:43:57.149Z,1736358237.149 [DAT](INFO): Rx dataTimestamp_ set to:1736358237.146604
2025-01-08T17:43:57.151Z,1736358237.151 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:43:57.152Z,1736358237.152 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-01-08T17:43:57.153Z,1736358237.153 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=19.665642
2025-01-08T17:43:57.392Z,1736358237.392 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=19.905329
2025-01-08T17:43:57.410Z,1736358237.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:57.463Z,1736358237.463 [DockingStepper](INFO): Starting
2025-01-08T17:43:57.645Z,1736358237.645 [DAT](INFO): DAT read: Rx Time:17:43:56.4760 

2025-01-08T17:43:57.645Z,1736358237.645 [DAT](INFO): Rx dataTimestamp_ set to:1736358237.644687
2025-01-08T17:43:57.646Z,1736358237.646 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed -0.1

2025-01-08T17:43:57.647Z,1736358237.647 [DAT](ERROR): #Rx 52: Read range message, but no direction.
2025-01-08T17:43:57.648Z,1736358237.648 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=20.160948
2025-01-08T17:43:57.788Z,1736358237.788 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:57.864Z,1736358237.864 [DockingStepper](INFO): Starting
2025-01-08T17:43:57.897Z,1736358237.897 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=20.410158
2025-01-08T17:43:57.920Z,1736358237.920 [DockingStepper](INFO): Init string: /1z16351aE13561N3m50
2025-01-08T17:43:58.149Z,1736358238.149 [DAT](INFO): DAT read: Rx Time:17:43:56.9759 

2025-01-08T17:43:58.149Z,1736358238.149 [DAT](INFO): Rx dataTimestamp_ set to:1736358238.149067
2025-01-08T17:43:58.151Z,1736358238.151 [DAT](INFO): DAT read: Bearing  87.8,   2.3 (Local)

2025-01-08T17:43:58.151Z,1736358238.151 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.8,   2.3 (Local)

2025-01-08T17:43:58.153Z,1736358238.153 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:43:58.158Z,1736358238.158 [DAT](INFO): DAT read: 17:43:56.9759 LVL= 20528, 20209, 18242, 18979, AGC= 43, IDX= 498,-0.32,-1.560,-2.378, 3.099,-2.318, PHS= 0.846,-0.013,-0.870, RAW=  60.0,   0.5, CAL=  62.2,  -2.3, ROT=  87.8,   2.3

2025-01-08T17:43:58.172Z,1736358238.172 [DAT](INFO): got valid direction response:
 17:43:56.9759 LVL= 20528, 20209, 18242, 18979, AGC= 43, IDX= 498,-0.32,-1.560,-2.378, 3.099,-2.318, PHS= 0.846,-0.013,-0.870, RAW=  60.0,   0.5, CAL=  62.2,  -2.3, ROT=  87.8,   2.3

2025-01-08T17:43:58.172Z,1736358238.172 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-01-08T17:43:58.173Z,1736358238.173 [DAT](INFO): direction in FSK: [0.038357,0.998458,-0.040132]
2025-01-08T17:43:58.173Z,1736358238.173 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:58.177Z,1736358238.177 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=20.690313
2025-01-08T17:43:58.396Z,1736358238.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:58.400Z,1736358238.400 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=20.913361
2025-01-08T17:43:58.465Z,1736358238.465 [DockingStepper](INFO): Starting
2025-01-08T17:43:58.642Z,1736358238.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:58.653Z,1736358238.653 [DAT](INFO): DAT read: Rx Time:17:43:57.4760 

2025-01-08T17:43:58.653Z,1736358238.653 [DAT](INFO): Rx dataTimestamp_ set to:1736358238.653107
2025-01-08T17:43:58.655Z,1736358238.655 [DAT](INFO): DAT read: Bearing  76.3,   8.5 (Local)

2025-01-08T17:43:58.655Z,1736358238.655 [DAT](INFO): Local bearing/azimuth received:
 Bearing  76.3,   8.5 (Local)

2025-01-08T17:43:58.658Z,1736358238.658 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:43:58.674Z,1736358238.674 [DAT](INFO): DAT read: 17:43:57.4760 LVL= 17840, 20049, 17506, 17555, AGC= 43, IDX= 499,-0.35, 0.791,-0.494,-1.288,-0.390, PHS= 1.269,-0.057,-0.901, RAW=  67.3,  -3.3, CAL=  73.7,  -8.5, ROT=  76.3,   8.5

2025-01-08T17:43:58.676Z,1736358238.676 [DAT](INFO): got valid direction response:
 17:43:57.4760 LVL= 17840, 20049, 17506, 17555, AGC= 43, IDX= 499,-0.35, 0.791,-0.494,-1.288,-0.390, PHS= 1.269,-0.057,-0.901, RAW=  67.3,  -3.3, CAL=  73.7,  -8.5, ROT=  76.3,   8.5

2025-01-08T17:43:58.676Z,1736358238.676 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-01-08T17:43:58.678Z,1736358238.678 [DAT](INFO): direction in FSK: [0.234237,0.960878,-0.147809]
2025-01-08T17:43:58.678Z,1736358238.678 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:58.701Z,1736358238.701 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=21.213434
2025-01-08T17:43:58.773Z,1736358238.773 [DockingStepper](INFO): Starting
2025-01-08T17:43:58.904Z,1736358238.904 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=21.417316
2025-01-08T17:43:59.054Z,1736358239.054 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:59.104Z,1736358239.104 [DockingStepper](INFO): Starting
2025-01-08T17:43:59.161Z,1736358239.161 [DAT](INFO): DAT read: Rx Time:17:43:57.9759 

2025-01-08T17:43:59.163Z,1736358239.163 [DAT](INFO): Rx dataTimestamp_ set to:1736358239.161848
2025-01-08T17:43:59.167Z,1736358239.167 [DAT](INFO): DAT read: Bearing  71.3,  12.9 (Local)

2025-01-08T17:43:59.167Z,1736358239.167 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.3,  12.9 (Local)

2025-01-08T17:43:59.169Z,1736358239.169 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:43:59.182Z,1736358239.182 [DAT](INFO): DAT read: 17:43:57.9759 LVL= 16688, 18913, 15330, 15283, AGC= 43, IDX= 497, 0.43,-2.380, 2.327, 1.519, 2.408, PHS= 1.583,-0.034,-0.892, RAW=  70.0,  -6.1, CAL=  78.7, -12.9, ROT=  71.3,  12.9

2025-01-08T17:43:59.183Z,1736358239.183 [DAT](INFO): got valid direction response:
 17:43:57.9759 LVL= 16688, 18913, 15330, 15283, AGC= 43, IDX= 497, 0.43,-2.380, 2.327, 1.519, 2.408, PHS= 1.583,-0.034,-0.892, RAW=  70.0,  -6.1, CAL=  78.7, -12.9, ROT=  71.3,  12.9

2025-01-08T17:43:59.187Z,1736358239.187 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-01-08T17:43:59.188Z,1736358239.188 [DAT](INFO): direction in FSK: [0.312521,0.923304,-0.223250]
2025-01-08T17:43:59.189Z,1736358239.189 [DAT](INFO): publishing direction and range info
2025-01-08T17:43:59.196Z,1736358239.196 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=21.709137
2025-01-08T17:43:59.408Z,1736358239.408 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=21.921045
2025-01-08T17:43:59.587Z,1736358239.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:43:59.641Z,1736358239.641 [DockingStepper](INFO): Starting
2025-01-08T17:43:59.661Z,1736358239.661 [DAT](INFO): DAT read: Rx Time:17:43:58.4759 

2025-01-08T17:43:59.662Z,1736358239.662 [DAT](INFO): Rx dataTimestamp_ set to:1736358239.661691
2025-01-08T17:43:59.664Z,1736358239.664 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:43:59.665Z,1736358239.665 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-01-08T17:43:59.666Z,1736358239.666 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=22.179077
2025-01-08T17:43:59.668Z,1736358239.668 [DockingStepper](INFO): Sent speed cmd:/1V10000 Response:ÿ/0@
2025-01-08T17:43:59.913Z,1736358239.913 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=22.425594
2025-01-08T17:43:59.931Z,1736358239.931 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:00.027Z,1736358240.027 [DockingStepper](INFO): Starting
2025-01-08T17:44:00.168Z,1736358240.168 [DAT](INFO): DAT read: Rx Time:17:43:58.9758 

2025-01-08T17:44:00.168Z,1736358240.168 [DAT](INFO): Rx dataTimestamp_ set to:1736358240.167927
2025-01-08T17:44:00.169Z,1736358240.169 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-08T17:44:00.170Z,1736358240.170 [DAT](ERROR): #Rx 57: Read range message, but no direction.
2025-01-08T17:44:00.171Z,1736358240.171 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=22.683851
2025-01-08T17:44:00.326Z,1736358240.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:00.350Z,1736358240.350 [DockingStepper](INFO): Changing to mode: 1
2025-01-08T17:44:00.350Z,1736358240.350 [DockingStepper](INFO): Standby mode.
2025-01-08T17:44:00.417Z,1736358240.417 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=22.930138
2025-01-08T17:44:00.670Z,1736358240.670 [DAT](INFO): DAT read: Rx Time:17:43:59.4760 

2025-01-08T17:44:00.670Z,1736358240.670 [DAT](INFO): Rx dataTimestamp_ set to:1736358240.669703
2025-01-08T17:44:00.672Z,1736358240.672 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:44:00.673Z,1736358240.673 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-01-08T17:44:00.674Z,1736358240.674 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=23.187033
2025-01-08T17:44:00.685Z,1736358240.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:00.920Z,1736358240.920 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=23.433300
2025-01-08T17:44:01.101Z,1736358241.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:01.177Z,1736358241.177 [DAT](INFO): DAT read: Rx Time:17:43:59.9759 

2025-01-08T17:44:01.179Z,1736358241.179 [DAT](INFO): Rx dataTimestamp_ set to:1736358241.177869
2025-01-08T17:44:01.183Z,1736358241.183 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:01.186Z,1736358241.186 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-01-08T17:44:01.193Z,1736358241.193 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=23.705408
2025-01-08T17:44:01.424Z,1736358241.424 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=23.937304
2025-01-08T17:44:01.502Z,1736358241.502 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:01.677Z,1736358241.677 [DAT](INFO): DAT read: Rx Time:17:44:00.4760 

2025-01-08T17:44:01.678Z,1736358241.678 [DAT](INFO): Rx dataTimestamp_ set to:1736358241.677163
2025-01-08T17:44:01.679Z,1736358241.679 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:44:01.680Z,1736358241.680 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-01-08T17:44:01.682Z,1736358241.682 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=24.194559
2025-01-08T17:44:01.865Z,1736358241.865 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:01.930Z,1736358241.930 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=24.443272
2025-01-08T17:44:02.185Z,1736358242.185 [DAT](INFO): DAT read: Rx Time:17:44:00.9759 

2025-01-08T17:44:02.187Z,1736358242.187 [DAT](INFO): Rx dataTimestamp_ set to:1736358242.185392
2025-01-08T17:44:02.191Z,1736358242.191 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:02.194Z,1736358242.194 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-01-08T17:44:02.197Z,1736358242.197 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=24.710281
2025-01-08T17:44:02.321Z,1736358242.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:02.433Z,1736358242.433 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=24.945637
2025-01-08T17:44:02.685Z,1736358242.685 [DAT](INFO): DAT read: Rx Time:17:44:01.4760 

2025-01-08T17:44:02.685Z,1736358242.685 [DAT](INFO): Rx dataTimestamp_ set to:1736358242.685211
2025-01-08T17:44:02.687Z,1736358242.687 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:44:02.688Z,1736358242.688 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-01-08T17:44:02.690Z,1736358242.690 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=25.202871
2025-01-08T17:44:02.710Z,1736358242.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:02.937Z,1736358242.937 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=25.449917
2025-01-08T17:44:03.096Z,1736358243.096 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:03.201Z,1736358243.201 [DAT](INFO): DAT read: Rx Time:17:44:01.9759 

2025-01-08T17:44:03.209Z,1736358243.209 [DAT](INFO): Rx dataTimestamp_ set to:1736358243.202060
2025-01-08T17:44:03.223Z,1736358243.223 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:03.226Z,1736358243.226 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-01-08T17:44:03.240Z,1736358243.240 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=25.752890
2025-01-08T17:44:03.462Z,1736358243.462 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=25.973845
2025-01-08T17:44:03.524Z,1736358243.524 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:03.700Z,1736358243.700 [DAT](INFO): DAT read: Rx Time:17:44:02.4759 

2025-01-08T17:44:03.701Z,1736358243.701 [DAT](INFO): Rx dataTimestamp_ set to:1736358243.700653
2025-01-08T17:44:03.702Z,1736358243.702 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:03.703Z,1736358243.703 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-01-08T17:44:03.704Z,1736358243.704 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=26.216705
2025-01-08T17:44:03.885Z,1736358243.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:03.956Z,1736358243.956 [DAT](INFO): DAT read: Rx Time:17:44:02.9758 

2025-01-08T17:44:03.958Z,1736358243.958 [DAT](INFO): Rx dataTimestamp_ set to:1736358243.956813
2025-01-08T17:44:03.961Z,1736358243.961 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=26.472822
2025-01-08T17:44:04.210Z,1736358244.210 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-08T17:44:04.213Z,1736358244.213 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-01-08T17:44:04.225Z,1736358244.225 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=26.736925
2025-01-08T17:44:04.314Z,1736358244.314 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:04.460Z,1736358244.460 [DAT](INFO): DAT read: Rx Time:17:44:03.4759 

2025-01-08T17:44:04.462Z,1736358244.462 [DAT](INFO): Rx dataTimestamp_ set to:1736358244.461168
2025-01-08T17:44:04.464Z,1736358244.464 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:04.464Z,1736358244.464 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-01-08T17:44:04.465Z,1736358244.465 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=26.978140
2025-01-08T17:44:04.709Z,1736358244.709 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=27.221706
2025-01-08T17:44:04.717Z,1736358244.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:04.963Z,1736358244.963 [DAT](INFO): DAT read: Rx Time:17:44:03.9758 

2025-01-08T17:44:04.963Z,1736358244.963 [DAT](INFO): Rx dataTimestamp_ set to:1736358244.963125
2025-01-08T17:44:04.965Z,1736358244.965 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-08T17:44:04.965Z,1736358244.965 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-01-08T17:44:04.966Z,1736358244.966 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=27.479057
2025-01-08T17:44:05.104Z,1736358245.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:05.216Z,1736358245.216 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=27.727806
2025-01-08T17:44:05.466Z,1736358245.466 [DAT](INFO): DAT read: Rx Time:17:44:04.4760 

2025-01-08T17:44:05.467Z,1736358245.467 [DAT](INFO): Rx dataTimestamp_ set to:1736358245.466678
2025-01-08T17:44:05.469Z,1736358245.469 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:44:05.470Z,1736358245.470 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-01-08T17:44:05.479Z,1736358245.479 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=27.983992
2025-01-08T17:44:05.581Z,1736358245.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:05.716Z,1736358245.716 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=28.229219
2025-01-08T17:44:05.910Z,1736358245.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:05.969Z,1736358245.969 [DAT](INFO): DAT read: Rx Time:17:44:04.9759 

2025-01-08T17:44:05.970Z,1736358245.970 [DAT](INFO): Rx dataTimestamp_ set to:1736358245.969367
2025-01-08T17:44:05.972Z,1736358245.972 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:05.973Z,1736358245.973 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-01-08T17:44:05.974Z,1736358245.974 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=28.486797
2025-01-08T17:44:06.233Z,1736358246.233 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=28.743496
2025-01-08T17:44:06.349Z,1736358246.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:06.473Z,1736358246.473 [DAT](INFO): DAT read: Rx Time:17:44:05.4760 

2025-01-08T17:44:06.474Z,1736358246.474 [DAT](INFO): Rx dataTimestamp_ set to:1736358246.473407
2025-01-08T17:44:06.476Z,1736358246.476 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:44:06.477Z,1736358246.477 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-01-08T17:44:06.478Z,1736358246.478 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=28.990772
2025-01-08T17:44:06.717Z,1736358246.717 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:06.725Z,1736358246.725 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=29.237562
2025-01-08T17:44:06.981Z,1736358246.981 [DAT](INFO): DAT read: Rx Time:17:44:05.9759 

2025-01-08T17:44:06.984Z,1736358246.984 [DAT](INFO): Rx dataTimestamp_ set to:1736358246.982097
2025-01-08T17:44:06.998Z,1736358246.998 [DAT](INFO): DAT read: Bearing  72.9,  11.2 (Local)

2025-01-08T17:44:07.004Z,1736358247.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.9,  11.2 (Local)

2025-01-08T17:44:07.020Z,1736358247.020 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:07.030Z,1736358247.030 [DAT](INFO): DAT read: 17:44:05.9759 LVL= 16880, 19265, 16002, 16675, AGC= 43, IDX= 496, 0.35, 1.412,-0.051,-0.845, 0.044, PHS= 1.456,-0.048,-0.892, RAW=  69.2,  -5.1, CAL=  77.1, -11.2, ROT=  72.9,  11.2

2025-01-08T17:44:07.040Z,1736358247.040 [DAT](INFO): got valid direction response:
 17:44:05.9759 LVL= 16880, 19265, 16002, 16675, AGC= 43, IDX= 496, 0.35, 1.412,-0.051,-0.845, 0.044, PHS= 1.456,-0.048,-0.892, RAW=  69.2,  -5.1, CAL=  77.1, -11.2, ROT=  72.9,  11.2

2025-01-08T17:44:07.040Z,1736358247.040 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-01-08T17:44:07.041Z,1736358247.041 [DAT](INFO): direction in FSK: [0.288440,0.937590,-0.194234]
2025-01-08T17:44:07.042Z,1736358247.042 [DAT](INFO): publishing direction and range info
2025-01-08T17:44:07.053Z,1736358247.053 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=29.566223
2025-01-08T17:44:07.153Z,1736358247.153 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:07.238Z,1736358247.238 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=29.750673
2025-01-08T17:44:07.502Z,1736358247.502 [DAT](INFO): DAT read: Rx Time:17:44:06.4760 

2025-01-08T17:44:07.514Z,1736358247.514 [DAT](INFO): Rx dataTimestamp_ set to:1736358247.513257
2025-01-08T17:44:07.515Z,1736358247.515 [DAT](INFO): DAT read: Bearing  81.5,   2.7 (Local)

2025-01-08T17:44:07.515Z,1736358247.515 [DAT](INFO): Local bearing/azimuth received:
 Bearing  81.5,   2.7 (Local)

2025-01-08T17:44:07.517Z,1736358247.517 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:44:07.553Z,1736358247.553 [DAT](INFO): DAT read: 17:44:06.4760 LVL= 18240, 21425, 18466, 18227, AGC= 43, IDX= 497,-0.26,-2.779, 2.424, 1.661, 2.588, PHS= 1.003,-0.117,-0.931, RAW=  65.2,   0.5, CAL=  68.5,  -2.7, ROT=  81.5,   2.7

2025-01-08T17:44:07.554Z,1736358247.554 [DAT](INFO): got valid direction response:
 17:44:06.4760 LVL= 18240, 21425, 18466, 18227, AGC= 43, IDX= 497,-0.26,-2.779, 2.424, 1.661, 2.588, PHS= 1.003,-0.117,-0.931, RAW=  65.2,   0.5, CAL=  68.5,  -2.7, ROT=  81.5,   2.7

2025-01-08T17:44:07.554Z,1736358247.554 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-01-08T17:44:07.559Z,1736358247.559 [DAT](INFO): direction in FSK: [0.147645,0.987918,-0.047106]
2025-01-08T17:44:07.560Z,1736358247.560 [DAT](INFO): publishing direction and range info
2025-01-08T17:44:07.563Z,1736358247.563 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=30.075809
2025-01-08T17:44:07.658Z,1736358247.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:07.742Z,1736358247.742 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=30.254999
2025-01-08T17:44:07.973Z,1736358247.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:07.998Z,1736358247.998 [DAT](INFO): DAT read: Rx Time:17:44:06.9759 

2025-01-08T17:44:07.000Z,1736358248.000 [DAT](INFO): Rx dataTimestamp_ set to:1736358247.998511
2025-01-08T17:44:08.005Z,1736358248.005 [DAT](INFO): DAT read: Bearing  88.3,  -3.7 (Local)

2025-01-08T17:44:08.006Z,1736358248.006 [DAT](INFO): Local bearing/azimuth received:
 Bearing  88.3,  -3.7 (Local)

2025-01-08T17:44:08.010Z,1736358248.010 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:08.023Z,1736358248.023 [DAT](INFO): DAT read: 17:44:06.9759 LVL= 16560, 21745, 18930, 18803, AGC= 42, IDX= 496,-0.13, 1.472, 0.647,-0.113, 0.809, PHS= 0.750,-0.115,-0.925, RAW=  61.1,   4.0, CAL=  61.7,   3.7, ROT=  88.3,  -3.7

2025-01-08T17:44:08.025Z,1736358248.025 [DAT](INFO): got valid direction response:
 17:44:06.9759 LVL= 16560, 21745, 18930, 18803, AGC= 42, IDX= 496,-0.13, 1.472, 0.647,-0.113, 0.809, PHS= 0.750,-0.115,-0.925, RAW=  61.1,   4.0, CAL=  61.7,   3.7, ROT=  88.3,  -3.7

2025-01-08T17:44:08.025Z,1736358248.025 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-01-08T17:44:08.026Z,1736358248.026 [DAT](INFO): direction in FSK: [0.029604,0.997476,0.064532]
2025-01-08T17:44:08.026Z,1736358248.026 [DAT](INFO): publishing direction and range info
2025-01-08T17:44:08.030Z,1736358248.030 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=30.542652
2025-01-08T17:44:08.248Z,1736358248.248 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=30.759850
2025-01-08T17:44:08.390Z,1736358248.390 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:08.501Z,1736358248.501 [DAT](INFO): DAT read: Rx Time:17:44:07.4760 

2025-01-08T17:44:08.502Z,1736358248.502 [DAT](INFO): Rx dataTimestamp_ set to:1736358248.501650
2025-01-08T17:44:08.507Z,1736358248.507 [DAT](INFO): DAT read: Bearing  97.1, -13.7 (Local)

2025-01-08T17:44:08.508Z,1736358248.508 [DAT](INFO): Local bearing/azimuth received:
 Bearing  97.1, -13.7 (Local)

2025-01-08T17:44:08.510Z,1736358248.510 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:44:08.544Z,1736358248.544 [DAT](INFO): DAT read: 17:44:07.4760 LVL= 17392, 24097, 21762, 21043, AGC= 42, IDX= 497,-0.03, 1.692, 1.146, 0.401, 1.307, PHS= 0.473,-0.114,-0.909, RAW=  55.0,   9.2, CAL=  52.9,  13.7, ROT=  97.1, -13.7

2025-01-08T17:44:08.545Z,1736358248.545 [DAT](INFO): got valid direction response:
 17:44:07.4760 LVL= 17392, 24097, 21762, 21043, AGC= 42, IDX= 497,-0.03, 1.692, 1.146, 0.401, 1.307, PHS= 0.473,-0.114,-0.909, RAW=  55.0,   9.2, CAL=  52.9,  13.7, ROT=  97.1, -13.7

2025-01-08T17:44:08.545Z,1736358248.545 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-01-08T17:44:08.546Z,1736358248.546 [DAT](INFO): direction in FSK: [-0.120085,0.964099,0.236838]
2025-01-08T17:44:08.547Z,1736358248.547 [DAT](INFO): publishing direction and range info
2025-01-08T17:44:08.567Z,1736358248.567 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=31.072023
2025-01-08T17:44:08.748Z,1736358248.748 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=31.261072
2025-01-08T17:44:08.758Z,1736358248.758 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:09.000Z,1736358249.000 [DAT](INFO): DAT read: Rx Time:17:44:07.9759 

2025-01-08T17:44:09.001Z,1736358249.001 [DAT](INFO): Rx dataTimestamp_ set to:1736358249.000663
2025-01-08T17:44:09.002Z,1736358249.002 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:09.003Z,1736358249.003 [DAT](ERROR): #Rx 75: Read range message, but no direction.
2025-01-08T17:44:09.004Z,1736358249.004 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=31.516771
2025-01-08T17:44:09.174Z,1736358249.174 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:09.255Z,1736358249.255 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=31.767160
2025-01-08T17:44:09.505Z,1736358249.505 [DAT](INFO): DAT read: Rx Time:17:44:08.4760 

2025-01-08T17:44:09.505Z,1736358249.505 [DAT](INFO): Rx dataTimestamp_ set to:1736358249.504987
2025-01-08T17:44:09.507Z,1736358249.507 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:44:09.508Z,1736358249.508 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-01-08T17:44:09.509Z,1736358249.509 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=32.021732
2025-01-08T17:44:09.617Z,1736358249.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:09.757Z,1736358249.757 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=32.269897
2025-01-08T17:44:09.828Z,1736358249.828 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-01-08T17:44:09.997Z,1736358249.997 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:10.009Z,1736358250.009 [DAT](INFO): DAT read: Rx Time:17:44:08.9759 

2025-01-08T17:44:10.009Z,1736358250.009 [DAT](INFO): Rx dataTimestamp_ set to:1736358250.008758
2025-01-08T17:44:10.010Z,1736358250.010 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:10.011Z,1736358250.011 [DAT](ERROR): #Rx 77: Read range message, but no direction.
2025-01-08T17:44:10.012Z,1736358250.012 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=32.524788
2025-01-08T17:44:10.263Z,1736358250.263 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=32.775799
2025-01-08T17:44:10.405Z,1736358250.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:10.513Z,1736358250.513 [DAT](INFO): DAT read: Rx Time:17:44:09.4760 

2025-01-08T17:44:10.514Z,1736358250.514 [DAT](INFO): Rx dataTimestamp_ set to:1736358250.513623
2025-01-08T17:44:10.516Z,1736358250.516 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed -0.1

2025-01-08T17:44:10.517Z,1736358250.517 [DAT](ERROR): #Rx 78: Read range message, but no direction.
2025-01-08T17:44:10.518Z,1736358250.518 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=33.030994
2025-01-08T17:44:10.764Z,1736358250.764 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=33.277283
2025-01-08T17:44:10.774Z,1736358250.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:10.833Z,1736358250.833 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:44:11.016Z,1736358251.016 [DAT](INFO): DAT read: Rx Time:17:44:09.9759 

2025-01-08T17:44:11.017Z,1736358251.017 [DAT](INFO): Rx dataTimestamp_ set to:1736358251.016554
2025-01-08T17:44:11.018Z,1736358251.018 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:11.019Z,1736358251.019 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-01-08T17:44:11.020Z,1736358251.020 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=33.532616
2025-01-08T17:44:11.201Z,1736358251.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:11.268Z,1736358251.268 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=33.781364
2025-01-08T17:44:11.521Z,1736358251.521 [DAT](INFO): DAT read: Rx Time:17:44:10.4760 

2025-01-08T17:44:11.521Z,1736358251.521 [DAT](INFO): Rx dataTimestamp_ set to:1736358251.520744
2025-01-08T17:44:11.523Z,1736358251.523 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed -0.1

2025-01-08T17:44:11.524Z,1736358251.524 [DAT](ERROR): #Rx 80: Read range message, but no direction.
2025-01-08T17:44:11.525Z,1736358251.525 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=34.037487
2025-01-08T17:44:11.699Z,1736358251.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:11.773Z,1736358251.773 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=34.286236
2025-01-08T17:44:11.000Z,1736358252.000 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:12.025Z,1736358252.025 [DAT](INFO): DAT read: Rx Time:17:44:10.9759 

2025-01-08T17:44:12.025Z,1736358252.025 [DAT](INFO): Rx dataTimestamp_ set to:1736358252.024792
2025-01-08T17:44:12.026Z,1736358252.026 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:12.027Z,1736358252.027 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-01-08T17:44:12.028Z,1736358252.028 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=34.540962
2025-01-08T17:44:12.283Z,1736358252.283 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=34.795067
2025-01-08T17:44:12.442Z,1736358252.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:12.533Z,1736358252.533 [DAT](INFO): DAT read: Rx Time:17:44:11.4760 

2025-01-08T17:44:12.533Z,1736358252.533 [DAT](INFO): Rx dataTimestamp_ set to:1736358252.533126
2025-01-08T17:44:12.535Z,1736358252.535 [DAT](INFO): DAT read: Bearing  87.8,   3.2 (Local)

2025-01-08T17:44:12.535Z,1736358252.535 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.8,   3.2 (Local)

2025-01-08T17:44:12.542Z,1736358252.542 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:44:12.557Z,1736358252.557 [DAT](INFO): DAT read: 17:44:11.4760 LVL= 18112, 19137, 16034, 17139, AGC= 43, IDX= 497,-0.37,-0.838,-1.632,-2.429,-1.591, PHS= 0.841, 0.006,-0.841, RAW=  59.7,  -0.1, CAL=  62.2,  -3.2, ROT=  87.8,   3.2

2025-01-08T17:44:12.559Z,1736358252.559 [DAT](INFO): got valid direction response:
 17:44:11.4760 LVL= 18112, 19137, 16034, 17139, AGC= 43, IDX= 497,-0.37,-0.838,-1.632,-2.429,-1.591, PHS= 0.841, 0.006,-0.841, RAW=  59.7,  -0.1, CAL=  62.2,  -3.2, ROT=  87.8,   3.2

2025-01-08T17:44:12.560Z,1736358252.560 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-01-08T17:44:12.561Z,1736358252.561 [DAT](INFO): direction in FSK: [0.038328,0.997705,-0.055822]
2025-01-08T17:44:12.562Z,1736358252.562 [DAT](INFO): publishing direction and range info
2025-01-08T17:44:12.566Z,1736358252.566 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=35.079208
2025-01-08T17:44:12.784Z,1736358252.784 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=35.297337
2025-01-08T17:44:12.817Z,1736358252.817 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:13.037Z,1736358253.037 [DAT](INFO): DAT read: Rx Time:17:44:11.9759 

2025-01-08T17:44:13.037Z,1736358253.037 [DAT](INFO): Rx dataTimestamp_ set to:1736358253.037167
2025-01-08T17:44:13.039Z,1736358253.039 [DAT](INFO): DAT read: Bearing  72.8,  13.3 (Local)

2025-01-08T17:44:13.040Z,1736358253.040 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.8,  13.3 (Local)

2025-01-08T17:44:13.042Z,1736358253.042 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:13.050Z,1736358253.050 [DAT](INFO): DAT read: 17:44:11.9759 LVL= 15856, 15937, 13074, 14835, AGC= 42, IDX= 495, 0.43, 2.952, 1.497, 0.666, 1.527, PHS= 1.514, 0.017,-0.864, RAW=  68.5,  -6.5, CAL=  77.2, -13.3, ROT=  72.8,  13.3

2025-01-08T17:44:13.051Z,1736358253.051 [DAT](INFO): got valid direction response:
 17:44:11.9759 LVL= 15856, 15937, 13074, 14835, AGC= 42, IDX= 495, 0.43, 2.952, 1.497, 0.666, 1.527, PHS= 1.514, 0.017,-0.864, RAW=  68.5,  -6.5, CAL=  77.2, -13.3, ROT=  72.8,  13.3

2025-01-08T17:44:13.051Z,1736358253.051 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-01-08T17:44:13.052Z,1736358253.052 [DAT](INFO): direction in FSK: [0.287777,0.929657,-0.230050]
2025-01-08T17:44:13.053Z,1736358253.053 [DAT](INFO): publishing direction and range info
2025-01-08T17:44:13.065Z,1736358253.065 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=35.578114
2025-01-08T17:44:13.203Z,1736358253.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:13.291Z,1736358253.291 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=35.803074
2025-01-08T17:44:13.541Z,1736358253.541 [DAT](INFO): DAT read: Rx Time:17:44:12.4760 

2025-01-08T17:44:13.542Z,1736358253.542 [DAT](INFO): Rx dataTimestamp_ set to:1736358253.541677
2025-01-08T17:44:13.543Z,1736358253.543 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:44:13.544Z,1736358253.544 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-01-08T17:44:13.545Z,1736358253.545 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=36.057747
2025-01-08T17:44:13.756Z,1736358253.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:13.793Z,1736358253.793 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=36.305904
2025-01-08T17:44:14.032Z,1736358254.032 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:14.049Z,1736358254.049 [DAT](INFO): DAT read: Rx Time:17:44:12.9763 

2025-01-08T17:44:14.049Z,1736358254.049 [DAT](INFO): Rx dataTimestamp_ set to:1736358254.048951
2025-01-08T17:44:14.050Z,1736358254.050 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-01-08T17:44:14.051Z,1736358254.051 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-01-08T17:44:14.052Z,1736358254.052 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=36.564983
2025-01-08T17:44:14.296Z,1736358254.296 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=36.809258
2025-01-08T17:44:14.474Z,1736358254.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:14.549Z,1736358254.549 [DAT](INFO): DAT read: Rx Time:17:44:13.4763 

2025-01-08T17:44:14.550Z,1736358254.550 [DAT](INFO): Rx dataTimestamp_ set to:1736358254.549374
2025-01-08T17:44:14.552Z,1736358254.552 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-01-08T17:44:14.553Z,1736358254.553 [DAT](ERROR): #Rx 86: Read range message, but no direction.
2025-01-08T17:44:14.554Z,1736358254.554 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=37.067268
2025-01-08T17:44:14.800Z,1736358254.800 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=37.313297
2025-01-08T17:44:14.836Z,1736358254.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:15.053Z,1736358255.053 [DAT](INFO): DAT read: Rx Time:17:44:13.9762 

2025-01-08T17:44:15.053Z,1736358255.053 [DAT](INFO): Rx dataTimestamp_ set to:1736358255.052774
2025-01-08T17:44:15.054Z,1736358255.054 [DAT](INFO): DAT read: Range 10 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-01-08T17:44:15.055Z,1736358255.055 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-01-08T17:44:15.057Z,1736358255.057 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=37.569515
2025-01-08T17:44:15.269Z,1736358255.269 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:15.306Z,1736358255.306 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=37.819252
2025-01-08T17:44:15.557Z,1736358255.557 [DAT](INFO): DAT read: Rx Time:17:44:14.4760 

2025-01-08T17:44:15.558Z,1736358255.558 [DAT](INFO): Rx dataTimestamp_ set to:1736358255.557489
2025-01-08T17:44:15.559Z,1736358255.559 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:44:15.560Z,1736358255.560 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-01-08T17:44:15.561Z,1736358255.561 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=38.073559
2025-01-08T17:44:15.718Z,1736358255.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:15.809Z,1736358255.809 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=38.321705
2025-01-08T17:44:16.045Z,1736358256.045 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:16.061Z,1736358256.061 [DAT](INFO): DAT read: Rx Time:17:44:14.9759 

2025-01-08T17:44:16.061Z,1736358256.061 [DAT](INFO): Rx dataTimestamp_ set to:1736358256.060737
2025-01-08T17:44:16.062Z,1736358256.062 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:16.063Z,1736358256.063 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-01-08T17:44:16.064Z,1736358256.064 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=38.576839
2025-01-08T17:44:16.312Z,1736358256.312 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=38.825222
2025-01-08T17:44:16.490Z,1736358256.490 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:16.565Z,1736358256.565 [DAT](INFO): DAT read: Rx Time:17:44:15.4760 

2025-01-08T17:44:16.566Z,1736358256.566 [DAT](INFO): Rx dataTimestamp_ set to:1736358256.565252
2025-01-08T17:44:16.567Z,1736358256.567 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:44:16.568Z,1736358256.568 [DAT](ERROR): #Rx 90: Read range message, but no direction.
2025-01-08T17:44:16.570Z,1736358256.570 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=39.082638
2025-01-08T17:44:16.816Z,1736358256.816 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=39.329197
2025-01-08T17:44:16.844Z,1736358256.844 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:17.068Z,1736358257.068 [DAT](INFO): DAT read: Rx Time:17:44:15.9759 

2025-01-08T17:44:17.069Z,1736358257.069 [DAT](INFO): Rx dataTimestamp_ set to:1736358257.068571
2025-01-08T17:44:17.070Z,1736358257.070 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:17.071Z,1736358257.071 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-01-08T17:44:17.072Z,1736358257.072 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=39.584641
2025-01-08T17:44:17.253Z,1736358257.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:17.322Z,1736358257.322 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=39.834797
2025-01-08T17:44:17.573Z,1736358257.573 [DAT](INFO): DAT read: Rx Time:17:44:16.4760 

2025-01-08T17:44:17.574Z,1736358257.574 [DAT](INFO): Rx dataTimestamp_ set to:1736358257.573226
2025-01-08T17:44:17.575Z,1736358257.575 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:44:17.575Z,1736358257.575 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-01-08T17:44:17.576Z,1736358257.576 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=40.089294
2025-01-08T17:44:17.689Z,1736358257.689 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:17.824Z,1736358257.824 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=40.337269
2025-01-08T17:44:18.077Z,1736358258.077 [DAT](INFO): DAT read: Rx Time:17:44:16.9759 

2025-01-08T17:44:18.077Z,1736358258.077 [DAT](INFO): Rx dataTimestamp_ set to:1736358258.076779
2025-01-08T17:44:18.078Z,1736358258.078 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:18.079Z,1736358258.079 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-01-08T17:44:18.080Z,1736358258.080 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=40.592815
2025-01-08T17:44:18.081Z,1736358258.081 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:18.328Z,1736358258.328 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=40.841202
2025-01-08T17:44:18.506Z,1736358258.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:18.583Z,1736358258.583 [DAT](INFO): DAT read: Rx Time:17:44:17.4759 

2025-01-08T17:44:18.584Z,1736358258.584 [DAT](INFO): Rx dataTimestamp_ set to:1736358258.583652
2025-01-08T17:44:18.585Z,1736358258.585 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:18.586Z,1736358258.586 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-01-08T17:44:18.587Z,1736358258.587 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=41.099560
2025-01-08T17:44:18.832Z,1736358258.832 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=41.345196
2025-01-08T17:44:18.875Z,1736358258.875 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:19.084Z,1736358259.084 [DAT](INFO): DAT read: Rx Time:17:44:17.9758 

2025-01-08T17:44:19.085Z,1736358259.085 [DAT](INFO): Rx dataTimestamp_ set to:1736358259.084593
2025-01-08T17:44:19.086Z,1736358259.086 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-08T17:44:19.087Z,1736358259.087 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-01-08T17:44:19.088Z,1736358259.088 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=41.600613
2025-01-08T17:44:19.285Z,1736358259.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:19.337Z,1736358259.337 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=41.850044
2025-01-08T17:44:19.591Z,1736358259.591 [DAT](INFO): DAT read: Rx Time:17:44:18.4759 

2025-01-08T17:44:19.592Z,1736358259.592 [DAT](INFO): Rx dataTimestamp_ set to:1736358259.591444
2025-01-08T17:44:19.594Z,1736358259.594 [DAT](INFO): DAT read: Bearing 174.5, -11.6 (Local)

2025-01-08T17:44:19.596Z,1736358259.596 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.5, -11.6 (Local)

2025-01-08T17:44:19.598Z,1736358259.598 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:19.602Z,1736358259.602 [DAT](INFO): DAT read: 17:44:18.4759 LVL= 15840,  8225,  8274, 10867, AGC= 46, IDX=   6, 0.49, 2.630,-2.194, 2.619,-2.929, PHS=-0.636, 0.782,-0.738, RAW= 333.5,   8.1, CAL= 335.5,  11.6, ROT= 174.5, -11.6

2025-01-08T17:44:19.604Z,1736358259.604 [DAT](INFO): got valid direction response:
 17:44:18.4759 LVL= 15840,  8225,  8274, 10867, AGC= 46, IDX=   6, 0.49, 2.630,-2.194, 2.619,-2.929, PHS=-0.636, 0.782,-0.738, RAW= 333.5,   8.1, CAL= 335.5,  11.6, ROT= 174.5, -11.6

2025-01-08T17:44:19.604Z,1736358259.604 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-01-08T17:44:19.605Z,1736358259.605 [DAT](INFO): direction in FSK: [-0.975065,0.093888,0.201078]
2025-01-08T17:44:19.605Z,1736358259.605 [DAT](INFO): publishing direction and range info
2025-01-08T17:44:19.609Z,1736358259.609 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=42.122433
2025-01-08T17:44:19.771Z,1736358259.771 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:19.841Z,1736358259.841 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=42.353935
2025-01-08T17:44:20.078Z,1736358260.078 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:20.093Z,1736358260.093 [DAT](INFO): DAT read: Rx Time:17:44:18.9758 

2025-01-08T17:44:20.093Z,1736358260.093 [DAT](INFO): Rx dataTimestamp_ set to:1736358260.093033
2025-01-08T17:44:20.094Z,1736358260.094 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-08T17:44:20.095Z,1736358260.095 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-01-08T17:44:20.096Z,1736358260.096 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=42.609081
2025-01-08T17:44:20.344Z,1736358260.344 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=42.857246
2025-01-08T17:44:20.555Z,1736358260.555 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:20.598Z,1736358260.598 [DAT](INFO): DAT read: Rx Time:17:44:19.4760 

2025-01-08T17:44:20.599Z,1736358260.599 [DAT](INFO): Rx dataTimestamp_ set to:1736358260.598203
2025-01-08T17:44:20.602Z,1736358260.602 [DAT](INFO): DAT read: Bearing  66.9,   3.7 (Local)

2025-01-08T17:44:20.602Z,1736358260.602 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.9,   3.7 (Local)

2025-01-08T17:44:20.607Z,1736358260.607 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:44:20.615Z,1736358260.615 [DAT](INFO): DAT read: 17:44:19.4760 LVL= 14704,  7297,  8386,  9843, AGC= 45, IDX=   0, 0.62, 1.231,-0.338,-0.761, 0.101, PHS= 1.219,-0.392,-0.865, RAW=  77.5,   0.4, CAL=  83.1,  -3.7, ROT=  66.9,   3.7

2025-01-08T17:44:20.617Z,1736358260.617 [DAT](INFO): got valid direction response:
 17:44:19.4760 LVL= 14704,  7297,  8386,  9843, AGC= 45, IDX=   0, 0.62, 1.231,-0.338,-0.761, 0.101, PHS= 1.219,-0.392,-0.865, RAW=  77.5,   0.4, CAL=  83.1,  -3.7, ROT=  66.9,   3.7

2025-01-08T17:44:20.617Z,1736358260.617 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-01-08T17:44:20.618Z,1736358260.618 [DAT](INFO): direction in FSK: [0.391519,0.917904,-0.064532]
2025-01-08T17:44:20.631Z,1736358260.631 [DAT](INFO): publishing direction and range info
2025-01-08T17:44:20.635Z,1736358260.635 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=43.147640
2025-01-08T17:44:20.848Z,1736358260.848 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=43.361198
2025-01-08T17:44:20.885Z,1736358260.885 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:21.100Z,1736358261.100 [DAT](INFO): DAT read: Rx Time:17:44:19.9759 

2025-01-08T17:44:21.101Z,1736358261.101 [DAT](INFO): Rx dataTimestamp_ set to:1736358261.100620
2025-01-08T17:44:21.103Z,1736358261.103 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:21.104Z,1736358261.104 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-01-08T17:44:21.105Z,1736358261.105 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=43.617996
2025-01-08T17:44:21.301Z,1736358261.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:21.353Z,1736358261.353 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=43.865955
2025-01-08T17:44:21.605Z,1736358261.605 [DAT](INFO): DAT read: Rx Time:17:44:20.4760 

2025-01-08T17:44:21.605Z,1736358261.605 [DAT](INFO): Rx dataTimestamp_ set to:1736358261.605025
2025-01-08T17:44:21.607Z,1736358261.607 [DAT](INFO): DAT read: Bearing  70.0,  14.7 (Local)

2025-01-08T17:44:21.607Z,1736358261.607 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.0,  14.7 (Local)

2025-01-08T17:44:21.609Z,1736358261.609 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:44:21.615Z,1736358261.615 [DAT](INFO): DAT read: 17:44:20.4760 LVL= 16416, 19601, 16018, 15571, AGC= 43, IDX= 495,-0.04, 1.163,-0.445,-1.234,-0.393, PHS= 1.644,-0.005,-0.844, RAW=  70.6,  -7.3, CAL=  80.0, -14.7, ROT=  70.0,  14.7

2025-01-08T17:44:21.622Z,1736358261.622 [DAT](INFO): got valid direction response:
 17:44:20.4760 LVL= 16416, 19601, 16018, 15571, AGC= 43, IDX= 495,-0.04, 1.163,-0.445,-1.234,-0.393, PHS= 1.644,-0.005,-0.844, RAW=  70.6,  -7.3, CAL=  80.0, -14.7, ROT=  70.0,  14.7

2025-01-08T17:44:21.623Z,1736358261.623 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-01-08T17:44:21.625Z,1736358261.625 [DAT](INFO): direction in FSK: [0.330825,0.908934,-0.253758]
2025-01-08T17:44:21.626Z,1736358261.626 [DAT](INFO): publishing direction and range info
2025-01-08T17:44:21.631Z,1736358261.631 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=44.143955
2025-01-08T17:44:21.768Z,1736358261.768 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:21.857Z,1736358261.857 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=44.370052
2025-01-08T17:44:22.101Z,1736358262.101 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:22.109Z,1736358262.109 [DAT](INFO): DAT read: Rx Time:17:44:20.9759 

2025-01-08T17:44:22.110Z,1736358262.110 [DAT](INFO): Rx dataTimestamp_ set to:1736358262.109252
2025-01-08T17:44:22.111Z,1736358262.111 [DAT](INFO): DAT read: Bearing  77.4,   6.2 (Local)

2025-01-08T17:44:22.111Z,1736358262.111 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.4,   6.2 (Local)

2025-01-08T17:44:22.113Z,1736358262.113 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:22.118Z,1736358262.118 [DAT](INFO): DAT read: 17:44:20.9759 LVL= 16368, 21745, 18418, 17331, AGC= 42, IDX= 495,-0.39,-0.111,-1.329,-2.080,-1.181, PHS= 1.158,-0.101,-0.902, RAW=  67.3,  -1.7, CAL=  72.6,  -6.2, ROT=  77.4,   6.2

2025-01-08T17:44:22.119Z,1736358262.119 [DAT](INFO): got valid direction response:
 17:44:20.9759 LVL= 16368, 21745, 18418, 17331, AGC= 42, IDX= 495,-0.39,-0.111,-1.329,-2.080,-1.181, PHS= 1.158,-0.101,-0.902, RAW=  67.3,  -1.7, CAL=  72.6,  -6.2, ROT=  77.4,   6.2

2025-01-08T17:44:22.120Z,1736358262.120 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-01-08T17:44:22.121Z,1736358262.121 [DAT](INFO): direction in FSK: [0.216867,0.970209,-0.107999]
2025-01-08T17:44:22.121Z,1736358262.121 [DAT](INFO): publishing direction and range info
2025-01-08T17:44:22.126Z,1736358262.126 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=44.639248
2025-01-08T17:44:22.360Z,1736358262.360 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=44.873257
2025-01-08T17:44:22.566Z,1736358262.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:22.614Z,1736358262.614 [DAT](INFO): DAT read: Rx Time:17:44:21.4759 

2025-01-08T17:44:22.614Z,1736358262.614 [DAT](INFO): Rx dataTimestamp_ set to:1736358262.614052
2025-01-08T17:44:22.617Z,1736358262.617 [DAT](INFO): DAT read: Bearing  87.9,  -5.2 (Local)

2025-01-08T17:44:22.618Z,1736358262.618 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.9,  -5.2 (Local)

2025-01-08T17:44:22.623Z,1736358262.623 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:22.630Z,1736358262.630 [DAT](INFO): DAT read: 17:44:21.4759 LVL= 16368, 24801, 21522, 21107, AGC= 42, IDX= 495,-0.17,-2.498, 2.973, 2.253,-3.124, PHS= 0.714,-0.139,-0.909, RAW=  61.7,   4.8, CAL=  62.1,   5.2, ROT=  87.9,  -5.2

2025-01-08T17:44:22.636Z,1736358262.636 [DAT](INFO): got valid direction response:
 17:44:21.4759 LVL= 16368, 24801, 21522, 21107, AGC= 42, IDX= 495,-0.17,-2.498, 2.973, 2.253,-3.124, PHS= 0.714,-0.139,-0.909, RAW=  61.7,   4.8, CAL=  62.1,   5.2, ROT=  87.9,  -5.2

2025-01-08T17:44:22.637Z,1736358262.637 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-01-08T17:44:22.638Z,1736358262.638 [DAT](INFO): direction in FSK: [0.036493,0.995216,0.090633]
2025-01-08T17:44:22.639Z,1736358262.639 [DAT](INFO): publishing direction and range info
2025-01-08T17:44:22.648Z,1736358262.648 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=45.160442
2025-01-08T17:44:22.864Z,1736358262.864 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=45.377193
2025-01-08T17:44:22.937Z,1736358262.937 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:23.117Z,1736358263.117 [DAT](INFO): DAT read: Rx Time:17:44:21.9758 

2025-01-08T17:44:23.117Z,1736358263.117 [DAT](INFO): Rx dataTimestamp_ set to:1736358263.117030
2025-01-08T17:44:23.119Z,1736358263.119 [DAT](INFO): DAT read: Bearing  93.8, -14.8 (Local)

2025-01-08T17:44:23.119Z,1736358263.119 [DAT](INFO): Local bearing/azimuth received:
 Bearing  93.8, -14.8 (Local)

2025-01-08T17:44:23.121Z,1736358263.121 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-08T17:44:23.126Z,1736358263.126 [DAT](INFO): DAT read: 17:44:21.9758 LVL= 16624, 30545, 27202, 23667, AGC= 42, IDX= 494,-0.05, 1.887, 1.269, 0.578, 1.486, PHS= 0.490,-0.169,-0.911, RAW=  58.1,   9.8, CAL=  56.2,  14.8, ROT=  93.8, -14.8

2025-01-08T17:44:23.132Z,1736358263.132 [DAT](INFO): got valid direction response:
 17:44:21.9758 LVL= 16624, 30545, 27202, 23667, AGC= 42, IDX= 494,-0.05, 1.887, 1.269, 0.578, 1.486, PHS= 0.490,-0.169,-0.911, RAW=  58.1,   9.8, CAL=  56.2,  14.8, ROT=  93.8, -14.8

2025-01-08T17:44:23.132Z,1736358263.132 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-01-08T17:44:23.133Z,1736358263.133 [DAT](INFO): direction in FSK: [-0.064075,0.964698,0.255446]
2025-01-08T17:44:23.134Z,1736358263.134 [DAT](INFO): publishing direction and range info
2025-01-08T17:44:23.150Z,1736358263.150 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=45.662537
2025-01-08T17:44:23.316Z,1736358263.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:23.369Z,1736358263.369 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=45.881378
2025-01-08T17:44:23.621Z,1736358263.621 [DAT](INFO): DAT read: Rx Time:17:44:22.4759 

2025-01-08T17:44:23.622Z,1736358263.622 [DAT](INFO): Rx dataTimestamp_ set to:1736358263.621541
2025-01-08T17:44:23.623Z,1736358263.623 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:23.624Z,1736358263.624 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-01-08T17:44:23.625Z,1736358263.625 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=46.137627
2025-01-08T17:44:23.781Z,1736358263.781 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:23.873Z,1736358263.873 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=46.385956
2025-01-08T17:44:24.120Z,1736358264.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:24.125Z,1736358264.125 [DAT](INFO): DAT read: Rx Time:17:44:22.9758 

2025-01-08T17:44:24.125Z,1736358264.125 [DAT](INFO): Rx dataTimestamp_ set to:1736358264.124992
2025-01-08T17:44:24.126Z,1736358264.126 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-08T17:44:24.127Z,1736358264.127 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-01-08T17:44:24.128Z,1736358264.128 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=46.641056
2025-01-08T17:44:24.376Z,1736358264.376 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=46.889145
2025-01-08T17:44:24.586Z,1736358264.586 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:24.632Z,1736358264.632 [DAT](INFO): DAT read: Rx Time:17:44:23.4759 

2025-01-08T17:44:24.632Z,1736358264.632 [DAT](INFO): Rx dataTimestamp_ set to:1736358264.632152
2025-01-08T17:44:24.634Z,1736358264.634 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:24.635Z,1736358264.635 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-01-08T17:44:24.637Z,1736358264.637 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=47.149544
2025-01-08T17:44:24.880Z,1736358264.880 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=47.393272
2025-01-08T17:44:25.015Z,1736358265.015 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:25.136Z,1736358265.136 [DAT](INFO): DAT read: Rx Time:17:44:23.9758 

2025-01-08T17:44:25.136Z,1736358265.136 [DAT](INFO): Rx dataTimestamp_ set to:1736358265.135835
2025-01-08T17:44:25.137Z,1736358265.137 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-08T17:44:25.138Z,1736358265.138 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-01-08T17:44:25.140Z,1736358265.140 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=47.652615
2025-01-08T17:44:25.336Z,1736358265.336 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:25.385Z,1736358265.385 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=47.897488
2025-01-08T17:44:25.637Z,1736358265.637 [DAT](INFO): DAT read: Rx Time:17:44:24.4759 

2025-01-08T17:44:25.638Z,1736358265.638 [DAT](INFO): Rx dataTimestamp_ set to:1736358265.637231
2025-01-08T17:44:25.639Z,1736358265.639 [DAT](INFO): DAT read: Bearing 217.3, -30.8 (Local)

2025-01-08T17:44:25.639Z,1736358265.639 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.3, -30.8 (Local)

2025-01-08T17:44:25.642Z,1736358265.642 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed -0.1

2025-01-08T17:44:25.649Z,1736358265.649 [DAT](INFO): DAT read: 17:44:24.4759 LVL=  7248, 10001,  6562, 10051, AGC= 44, IDX=   0, 0.65,-1.062, 1.053, 0.593, 1.096, PHS=-2.070, 0.005,-0.506, RAW= 283.7,  25.9, CAL= 292.7,  30.8, ROT= 217.3, -30.8

2025-01-08T17:44:25.650Z,1736358265.650 [DAT](INFO): got valid direction response:
 17:44:24.4759 LVL=  7248, 10001,  6562, 10051, AGC= 44, IDX=   0, 0.65,-1.062, 1.053, 0.593, 1.096, PHS=-2.070, 0.005,-0.506, RAW= 283.7,  25.9, CAL= 292.7,  30.8, ROT= 217.3, -30.8

2025-01-08T17:44:25.651Z,1736358265.651 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-01-08T17:44:25.677Z,1736358265.677 [DAT](INFO): direction in FSK: [-0.683280,-0.520520,0.512043]
2025-01-08T17:44:25.677Z,1736358265.677 [DAT](INFO): publishing direction and range info
2025-01-08T17:44:25.682Z,1736358265.682 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=48.194893
2025-01-08T17:44:25.833Z,1736358265.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:25.889Z,1736358265.889 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=48.401302
2025-01-08T17:44:26.142Z,1736358266.142 [DAT](INFO): DAT read: Rx Time:17:44:24.9758 

2025-01-08T17:44:26.142Z,1736358266.142 [DAT](INFO): Rx dataTimestamp_ set to:1736358266.141871
2025-01-08T17:44:26.143Z,1736358266.143 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-08T17:44:26.144Z,1736358266.144 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-01-08T17:44:26.145Z,1736358266.145 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=48.657928
2025-01-08T17:44:26.166Z,1736358266.166 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:26.392Z,1736358266.392 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=48.905323
2025-01-08T17:44:26.617Z,1736358266.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:26.645Z,1736358266.645 [DAT](INFO): DAT read: Rx Time:17:44:25.4760 

2025-01-08T17:44:26.645Z,1736358266.645 [DAT](INFO): Rx dataTimestamp_ set to:1736358266.644690
2025-01-08T17:44:26.646Z,1736358266.646 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed -0.1

2025-01-08T17:44:26.647Z,1736358266.647 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-01-08T17:44:26.648Z,1736358266.648 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=49.160767
2025-01-08T17:44:26.899Z,1736358266.899 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=49.411320
2025-01-08T17:44:27.046Z,1736358267.046 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:27.148Z,1736358267.148 [DAT](INFO): DAT read: Rx Time:17:44:25.9759 

2025-01-08T17:44:27.149Z,1736358267.149 [DAT](INFO): Rx dataTimestamp_ set to:1736358267.148667
2025-01-08T17:44:27.150Z,1736358267.150 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:27.151Z,1736358267.151 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-01-08T17:44:27.152Z,1736358267.152 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=49.664738
2025-01-08T17:44:27.408Z,1736358267.408 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=49.921352
2025-01-08T17:44:27.430Z,1736358267.430 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:27.661Z,1736358267.661 [DAT](INFO): DAT read: Rx Time:17:44:26.4760 

2025-01-08T17:44:27.662Z,1736358267.662 [DAT](INFO): Rx dataTimestamp_ set to:1736358267.661722
2025-01-08T17:44:27.664Z,1736358267.664 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:44:27.665Z,1736358267.665 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-01-08T17:44:27.666Z,1736358267.666 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=50.179165
2025-01-08T17:44:27.818Z,1736358267.818 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:27.912Z,1736358267.912 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=50.425274
2025-01-08T17:44:28.165Z,1736358268.165 [DAT](INFO): DAT read: Rx Time:17:44:26.9759 

2025-01-08T17:44:28.165Z,1736358268.165 [DAT](INFO): Rx dataTimestamp_ set to:1736358268.164905
2025-01-08T17:44:28.166Z,1736358268.166 [DAT](INFO): DAT read: Bearing  98.6,  -5.4 (Local)

2025-01-08T17:44:28.167Z,1736358268.167 [DAT](INFO): Local bearing/azimuth received:
 Bearing  98.6,  -5.4 (Local)

2025-01-08T17:44:28.169Z,1736358268.169 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:28.175Z,1736358268.175 [DAT](INFO): DAT read: 17:44:26.9759 LVL= 18032, 17377, 15554, 17763, AGC= 43, IDX= 494,-0.26,-0.995,-1.490,-2.302,-1.460, PHS= 0.553, 0.017,-0.845, RAW=  52.3,   4.6, CAL=  51.4,   5.4, ROT=  98.6,  -5.4

2025-01-08T17:44:28.185Z,1736358268.185 [DAT](INFO): got valid direction response:
 17:44:26.9759 LVL= 18032, 17377, 15554, 17763, AGC= 43, IDX= 494,-0.26,-0.995,-1.490,-2.302,-1.460, PHS= 0.553, 0.017,-0.845, RAW=  52.3,   4.6, CAL=  51.4,   5.4, ROT=  98.6,  -5.4

2025-01-08T17:44:28.185Z,1736358268.185 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-01-08T17:44:28.186Z,1736358268.186 [DAT](INFO): direction in FSK: [-0.148872,0.984368,0.094108]
2025-01-08T17:44:28.186Z,1736358268.186 [DAT](INFO): publishing direction and range info
2025-01-08T17:44:28.191Z,1736358268.191 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=50.703678
2025-01-08T17:44:28.229Z,1736358268.229 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:28.416Z,1736358268.416 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=50.929192
2025-01-08T17:44:28.669Z,1736358268.669 [DAT](INFO): DAT read: Rx Time:17:44:27.4760 

2025-01-08T17:44:28.670Z,1736358268.670 [DAT](INFO): Rx dataTimestamp_ set to:1736358268.669752
2025-01-08T17:44:28.672Z,1736358268.672 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:44:28.673Z,1736358268.673 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-01-08T17:44:28.675Z,1736358268.675 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=51.187569
2025-01-08T17:44:28.732Z,1736358268.732 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:28.920Z,1736358268.920 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=51.433178
2025-01-08T17:44:29.044Z,1736358269.044 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:29.174Z,1736358269.174 [DAT](INFO): DAT read: Rx Time:17:44:27.9763 

2025-01-08T17:44:29.175Z,1736358269.175 [DAT](INFO): Rx dataTimestamp_ set to:1736358269.174293
2025-01-08T17:44:29.176Z,1736358269.176 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-01-08T17:44:29.178Z,1736358269.178 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-01-08T17:44:29.186Z,1736358269.186 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=51.691898
2025-01-08T17:44:29.424Z,1736358269.424 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=51.937183
2025-01-08T17:44:29.475Z,1736358269.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:29.678Z,1736358269.678 [DAT](INFO): DAT read: Rx Time:17:44:28.4764 

2025-01-08T17:44:29.679Z,1736358269.679 [DAT](INFO): Rx dataTimestamp_ set to:1736358269.678338
2025-01-08T17:44:29.680Z,1736358269.680 [DAT](INFO): DAT read: Range 10 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-01-08T17:44:29.681Z,1736358269.681 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-01-08T17:44:29.683Z,1736358269.683 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=52.195625
2025-01-08T17:44:29.878Z,1736358269.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:29.928Z,1736358269.928 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=52.441292
2025-01-08T17:44:30.180Z,1736358270.180 [DAT](INFO): DAT read: Rx Time:17:44:28.9763 

2025-01-08T17:44:30.181Z,1736358270.181 [DAT](INFO): Rx dataTimestamp_ set to:1736358270.180675
2025-01-08T17:44:30.182Z,1736358270.182 [DAT](INFO): DAT read: Range 10 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-01-08T17:44:30.183Z,1736358270.183 [DAT](ERROR): #Rx 117: Read range message, but no direction.
2025-01-08T17:44:30.188Z,1736358270.188 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=52.701118
2025-01-08T17:44:30.260Z,1736358270.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:30.432Z,1736358270.432 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=52.945179
2025-01-08T17:44:30.686Z,1736358270.686 [DAT](INFO): DAT read: Rx Time:17:44:29.4759 

2025-01-08T17:44:30.686Z,1736358270.686 [DAT](INFO): Rx dataTimestamp_ set to:1736358270.685712
2025-01-08T17:44:30.688Z,1736358270.688 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:30.689Z,1736358270.689 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-01-08T17:44:30.692Z,1736358270.692 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=53.203705
2025-01-08T17:44:30.708Z,1736358270.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:30.936Z,1736358270.936 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=53.449245
2025-01-08T17:44:31.064Z,1736358271.064 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:31.189Z,1736358271.189 [DAT](INFO): DAT read: Rx Time:17:44:29.9758 

2025-01-08T17:44:31.190Z,1736358271.190 [DAT](INFO): Rx dataTimestamp_ set to:1736358271.189247
2025-01-08T17:44:31.191Z,1736358271.191 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-08T17:44:31.192Z,1736358271.192 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-01-08T17:44:31.193Z,1736358271.193 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=53.705486
2025-01-08T17:44:31.448Z,1736358271.448 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=53.956062
2025-01-08T17:44:31.485Z,1736358271.485 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:31.694Z,1736358271.694 [DAT](INFO): DAT read: Rx Time:17:44:30.4759 

2025-01-08T17:44:31.696Z,1736358271.696 [DAT](INFO): Rx dataTimestamp_ set to:1736358271.694857
2025-01-08T17:44:31.698Z,1736358271.698 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:31.700Z,1736358271.700 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-01-08T17:44:31.701Z,1736358271.701 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:44:31.701Z,1736358271.701 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:44:31.701Z,1736358271.701 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:31.944Z,1736358271.944 [DAT](INFO): DAT read: Rx Time:17:44:30.9758 

2025-01-08T17:44:31.945Z,1736358271.945 [DAT](INFO): Rx dataTimestamp_ set to:1736358271.944614
2025-01-08T17:44:31.945Z,1736358271.945 [DAT](INFO): Reached modem response timeout
2025-01-08T17:44:31.945Z,1736358271.945 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:31.946Z,1736358271.946 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:31.951Z,1736358271.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:32.202Z,1736358272.202 [DAT](INFO): DAT read: ane10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-08T17:44:32.202Z,1736358272.202 [DAT](INFO): unknown deviceResponse_: ane10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-08T17:44:32.203Z,1736358272.203 [DAT](INFO): Reached modem response timeout
2025-01-08T17:44:32.203Z,1736358272.203 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:32.203Z,1736358272.203 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:32.309Z,1736358272.309 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:32.458Z,1736358272.458 [DAT](INFO): DAT read: Rx Time:17:44:31.4759 

2025-01-08T17:44:32.459Z,1736358272.459 [DAT](INFO): Rx dataTimestamp_ set to:1736358272.458079
2025-01-08T17:44:32.460Z,1736358272.460 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:32.461Z,1736358272.461 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:44:32.461Z,1736358272.461 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:32.462Z,1736358272.462 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:32.704Z,1736358272.704 [DAT](INFO): Reached modem response timeout
2025-01-08T17:44:32.704Z,1736358272.704 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:32.704Z,1736358272.704 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:32.748Z,1736358272.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:32.958Z,1736358272.958 [DAT](INFO): DAT read: Rx Time:17:44:31.9758 

2025-01-08T17:44:32.958Z,1736358272.958 [DAT](INFO): Rx dataTimestamp_ set to:1736358272.957857
2025-01-08T17:44:32.959Z,1736358272.959 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-08T17:44:32.960Z,1736358272.960 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:44:32.961Z,1736358272.961 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:32.961Z,1736358272.961 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:33.102Z,1736358273.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:33.208Z,1736358273.208 [DAT](INFO): Reached modem response timeout
2025-01-08T17:44:33.208Z,1736358273.208 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:33.208Z,1736358273.208 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:33.462Z,1736358273.462 [DAT](INFO): DAT read: Rx Time:17:44:32.4759 

2025-01-08T17:44:33.462Z,1736358273.462 [DAT](INFO): Rx dataTimestamp_ set to:1736358273.462151
2025-01-08T17:44:33.472Z,1736358273.472 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:33.473Z,1736358273.473 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:44:33.474Z,1736358273.474 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:33.474Z,1736358273.474 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:33.494Z,1736358273.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:33.712Z,1736358273.712 [DAT](INFO): Reached modem response timeout
2025-01-08T17:44:33.712Z,1736358273.712 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:33.712Z,1736358273.712 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:33.918Z,1736358273.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:33.965Z,1736358273.965 [DAT](INFO): DAT read: Rx Time:17:44:32.9758 

2025-01-08T17:44:33.965Z,1736358273.965 [DAT](INFO): Rx dataTimestamp_ set to:1736358273.964774
2025-01-08T17:44:33.966Z,1736358273.966 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-08T17:44:33.967Z,1736358273.967 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:44:33.968Z,1736358273.968 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:33.968Z,1736358273.968 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:34.216Z,1736358274.216 [DAT](INFO): Reached modem response timeout
2025-01-08T17:44:34.216Z,1736358274.216 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:34.217Z,1736358274.217 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:34.304Z,1736358274.304 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:34.468Z,1736358274.468 [DAT](INFO): DAT read: Rx Time:17:44:33.4759 

2025-01-08T17:44:34.469Z,1736358274.469 [DAT](INFO): Rx dataTimestamp_ set to:1736358274.468620
2025-01-08T17:44:34.470Z,1736358274.470 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:34.471Z,1736358274.471 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:44:34.471Z,1736358274.471 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:34.472Z,1736358274.472 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:34.720Z,1736358274.720 [DAT](INFO): Reached modem response timeout
2025-01-08T17:44:34.720Z,1736358274.720 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:34.721Z,1736358274.721 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:34.745Z,1736358274.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:34.976Z,1736358274.976 [DAT](INFO): DAT read: Rx Time:17:44:33.9759 

2025-01-08T17:44:34.978Z,1736358274.978 [DAT](INFO): Rx dataTimestamp_ set to:1736358274.976520
2025-01-08T17:44:34.981Z,1736358274.981 [DAT](INFO): DAT read: Bearing  68.9,  14.5 (Local)

2025-01-08T17:44:34.982Z,1736358274.982 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.9,  14.5 (Local)

2025-01-08T17:44:35.011Z,1736358275.011 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:35.016Z,1736358275.016 [DAT](INFO): DAT read: 17:44:33.9759 LVL= 14976, 20465, 15794, 16051, AGC= 43, IDX= 508,-0.48, 2.707, 1.065, 0.321, 1.152, PHS= 1.643,-0.040,-0.834, RAW=  71.7,  -7.1, CAL=  81.1, -14.5, ROT=  68.9,  14.5

2025-01-08T17:44:35.017Z,1736358275.017 [DAT](INFO): got valid direction response:
 17:44:33.9759 LVL= 14976, 20465, 15794, 16051, AGC= 43, IDX= 508,-0.48, 2.707, 1.065, 0.321, 1.152, PHS= 1.643,-0.040,-0.834, RAW=  71.7,  -7.1, CAL=  81.1, -14.5, ROT=  68.9,  14.5

2025-01-08T17:44:35.017Z,1736358275.017 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:44:35.018Z,1736358275.018 [DAT](INFO): direction in FSK: [0.348530,0.903237,-0.250380]
2025-01-08T17:44:35.018Z,1736358275.018 [DAT](INFO): publishing direction and range info
2025-01-08T17:44:35.055Z,1736358275.055 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:35.059Z,1736358275.059 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:35.114Z,1736358275.114 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:35.224Z,1736358275.224 [DAT](INFO): Reached modem response timeout
2025-01-08T17:44:35.224Z,1736358275.224 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:35.225Z,1736358275.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:35.481Z,1736358275.481 [DAT](INFO): DAT read: Rx Time:17:44:34.4760 

2025-01-08T17:44:35.482Z,1736358275.482 [DAT](INFO): Rx dataTimestamp_ set to:1736358275.481568
2025-01-08T17:44:35.486Z,1736358275.486 [DAT](INFO): DAT read: Bearing  74.8,   6.5 (Local)

2025-01-08T17:44:35.517Z,1736358275.517 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.8,   6.5 (Local)

2025-01-08T17:44:35.519Z,1736358275.519 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:44:35.529Z,1736358275.529 [DAT](INFO): DAT read: 17:44:34.4760 LVL= 16560, 24385, 21746, 21459, AGC= 43, IDX= 509, 0.05,-0.521,-1.850,-2.556,-1.654, PHS= 1.221,-0.149,-0.904, RAW=  69.5,  -1.8, CAL=  75.2,  -6.5, ROT=  74.8,   6.5

2025-01-08T17:44:35.530Z,1736358275.530 [DAT](INFO): got valid direction response:
 17:44:34.4760 LVL= 16560, 24385, 21746, 21459, AGC= 43, IDX= 509, 0.05,-0.521,-1.850,-2.556,-1.654, PHS= 1.221,-0.149,-0.904, RAW=  69.5,  -1.8, CAL=  75.2,  -6.5, ROT=  74.8,   6.5

2025-01-08T17:44:35.530Z,1736358275.530 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:44:35.535Z,1736358275.535 [DAT](INFO): direction in FSK: [0.260504,0.958813,-0.113203]
2025-01-08T17:44:35.536Z,1736358275.536 [DAT](INFO): publishing direction and range info
2025-01-08T17:44:35.548Z,1736358275.548 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:35.548Z,1736358275.548 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:35.577Z,1736358275.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:35.729Z,1736358275.729 [DAT](INFO): Reached modem response timeout
2025-01-08T17:44:35.729Z,1736358275.729 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:35.729Z,1736358275.729 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:35.980Z,1736358275.980 [DAT](INFO): DAT read: Rx Time:17:44:34.9759 

2025-01-08T17:44:35.981Z,1736358275.981 [DAT](INFO): Rx dataTimestamp_ set to:1736358275.980675
2025-01-08T17:44:35.982Z,1736358275.982 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:35.983Z,1736358275.983 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:44:35.984Z,1736358275.984 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:35.984Z,1736358275.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:36.022Z,1736358276.022 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:36.232Z,1736358276.232 [DAT](INFO): Reached modem response timeout
2025-01-08T17:44:36.232Z,1736358276.232 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:36.232Z,1736358276.232 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:36.356Z,1736358276.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:36.485Z,1736358276.485 [DAT](INFO): DAT read: Rx Time:17:44:35.4760 

2025-01-08T17:44:36.485Z,1736358276.485 [DAT](INFO): Rx dataTimestamp_ set to:1736358276.484747
2025-01-08T17:44:36.486Z,1736358276.486 [DAT](INFO): DAT read: Range 10 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-01-08T17:44:36.487Z,1736358276.487 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:44:36.488Z,1736358276.488 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:36.488Z,1736358276.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:36.740Z,1736358276.740 [DAT](INFO): Reached modem response timeout
2025-01-08T17:44:36.740Z,1736358276.740 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:36.741Z,1736358276.741 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:36.832Z,1736358276.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:36.994Z,1736358276.994 [DAT](INFO): DAT read: Rx Time:17:44:35.9759 

2025-01-08T17:44:36.995Z,1736358276.995 [DAT](INFO): Rx dataTimestamp_ set to:1736358276.994394
2025-01-08T17:44:36.996Z,1736358276.996 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:36.997Z,1736358276.997 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:44:36.997Z,1736358276.997 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:36.997Z,1736358276.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:37.172Z,1736358277.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:37.244Z,1736358277.244 [DAT](INFO): Reached modem response timeout
2025-01-08T17:44:37.244Z,1736358277.244 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:37.244Z,1736358277.244 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:37.496Z,1736358277.496 [DAT](INFO): DAT read: Rx Time:17:44:36.4759 

2025-01-08T17:44:37.497Z,1736358277.497 [DAT](INFO): Rx dataTimestamp_ set to:1736358277.496642
2025-01-08T17:44:37.498Z,1736358277.498 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:37.499Z,1736358277.499 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:44:37.500Z,1736358277.500 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:37.500Z,1736358277.500 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:37.579Z,1736358277.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:37.589Z,1736358277.589 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-01-08T17:34:37.6Z
2025-01-08T17:44:37.589Z,1736358277.589 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-01-08T17:44:37.589Z,1736358277.589 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-01-08T17:44:37.589Z,1736358277.589 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-01-08T17:44:37.590Z,1736358277.590 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-01-08T17:44:37.590Z,1736358277.590 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-01-08T17:44:37.748Z,1736358277.748 [DAT](INFO): Reached modem response timeout
2025-01-08T17:44:37.748Z,1736358277.748 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:37.748Z,1736358277.748 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:38.001Z,1736358278.001 [DAT](INFO): DAT read: Rx Time:17:44:36.9758 

2025-01-08T17:44:38.001Z,1736358278.001 [DAT](INFO): Rx dataTimestamp_ set to:1736358278.000690
2025-01-08T17:44:38.002Z,1736358278.002 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-08T17:44:38.003Z,1736358278.003 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:44:38.004Z,1736358278.004 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:38.004Z,1736358278.004 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:38.013Z,1736358278.013 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:38.021Z,1736358278.021 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-01-08T17:44:38.021Z,1736358278.021 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-01-08T17:44:38.021Z,1736358278.021 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-01-08T17:44:38.022Z,1736358278.022 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-01-08T17:44:38.022Z,1736358278.022 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-01-08T17:44:38.252Z,1736358278.252 [DAT](INFO): Reached modem response timeout
2025-01-08T17:44:38.252Z,1736358278.252 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:38.253Z,1736358278.253 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:38.504Z,1736358278.504 [DAT](INFO): DAT read: Rx Time:17:44:37.4759 

2025-01-08T17:44:38.506Z,1736358278.506 [DAT](INFO): Rx dataTimestamp_ set to:1736358278.504662
2025-01-08T17:44:38.507Z,1736358278.507 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:38.508Z,1736358278.508 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:44:38.508Z,1736358278.508 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:38.509Z,1736358278.509 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:38.546Z,1736358278.546 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:38.756Z,1736358278.756 [DAT](INFO): Reached modem response timeout
2025-01-08T17:44:38.756Z,1736358278.756 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:38.756Z,1736358278.756 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:38.874Z,1736358278.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:39.009Z,1736358279.009 [DAT](INFO): DAT read: Rx Time:17:44:37.9758 

2025-01-08T17:44:39.009Z,1736358279.009 [DAT](INFO): Rx dataTimestamp_ set to:1736358279.008763
2025-01-08T17:44:39.010Z,1736358279.010 [DAT](INFO): DAT read: Range 10 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-01-08T17:44:39.011Z,1736358279.011 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:44:39.012Z,1736358279.012 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:39.012Z,1736358279.012 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:39.260Z,1736358279.260 [DAT](INFO): Reached modem response timeout
2025-01-08T17:44:39.260Z,1736358279.260 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:39.260Z,1736358279.260 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:39.285Z,1736358279.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:39.513Z,1736358279.513 [DAT](INFO): DAT read: Rx Time:17:44:38.4759 

2025-01-08T17:44:39.513Z,1736358279.513 [DAT](INFO): Rx dataTimestamp_ set to:1736358279.512824
2025-01-08T17:44:39.514Z,1736358279.514 [DAT](INFO): DAT read: Range 10 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-01-08T17:44:39.515Z,1736358279.515 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:44:39.516Z,1736358279.516 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:39.516Z,1736358279.516 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:39.681Z,1736358279.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:39.766Z,1736358279.766 [DAT](INFO): Reached modem response timeout
2025-01-08T17:44:39.767Z,1736358279.767 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:44:39.767Z,1736358279.767 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:44:40.016Z,1736358280.016 [DAT](INFO): DAT read: user:351>

2025-01-08T17:44:40.017Z,1736358280.017 [DAT](INFO): DAT read: user:351>

2025-01-08T17:44:40.018Z,1736358280.018 [DAT](INFO): DAT read: Tx time:17:44:39.3949

2025-01-08T17:44:40.018Z,1736358280.018 [DAT](INFO): Ping request sent.
2025-01-08T17:44:40.018Z,1736358280.018 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:44:40.018Z,1736358280.018 [DAT](INFO): publishing transmit ping time
2025-01-08T17:44:40.019Z,1736358280.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-01-08T17:44:40.108Z,1736358280.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:40.268Z,1736358280.268 [DAT](INFO): DAT read: TxSync time:17:44:39.3941

2025-01-08T17:44:40.269Z,1736358280.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251178
2025-01-08T17:44:40.520Z,1736358280.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502308
2025-01-08T17:44:40.545Z,1736358280.545 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:40.776Z,1736358280.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758384
2025-01-08T17:44:40.938Z,1736358280.938 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:41.028Z,1736358281.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010334
2025-01-08T17:44:41.281Z,1736358281.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262817
2025-01-08T17:44:41.363Z,1736358281.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:41.532Z,1736358281.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514367
2025-01-08T17:44:41.788Z,1736358281.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768976
2025-01-08T17:44:41.808Z,1736358281.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:42.037Z,1736358282.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018716
2025-01-08T17:44:42.216Z,1736358282.216 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:42.289Z,1736358282.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270713
2025-01-08T17:44:42.540Z,1736358282.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522469
2025-01-08T17:44:42.607Z,1736358282.607 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:42.796Z,1736358282.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778372
2025-01-08T17:44:43.029Z,1736358283.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:43.044Z,1736358283.044 [DAT](INFO): DAT read: Rx Time:17:44:41.8016

2025-01-08T17:44:43.045Z,1736358283.045 [DAT](INFO): Rx dataTimestamp_ set to:1736358283.044619
2025-01-08T17:44:43.045Z,1736358283.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027517
2025-01-08T17:44:43.296Z,1736358283.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278439
2025-01-08T17:44:43.419Z,1736358283.419 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:43.554Z,1736358283.554 [DAT](INFO): DAT read: 17:44:41.8016 LVL= 16528, 18577, 15090, 17843, AGC= 45, IDX= 227,-0.29,-2.424, 2.623, 1.816, 2.666, PHS= 1.281, 0.004,-0.853, RAW=  66.5,  -4.7, CAL=  73.7, -10.5, ROT=  76.3,  10.5

2025-01-08T17:44:43.556Z,1736358283.556 [DAT](INFO): got valid direction response:
 17:44:41.8016 LVL= 16528, 18577, 15090, 17843, AGC= 45, IDX= 227,-0.29,-2.424, 2.623, 1.816, 2.666, PHS= 1.281, 0.004,-0.853, RAW=  66.5,  -4.7, CAL=  73.7, -10.5, ROT=  76.3,  10.5

2025-01-08T17:44:43.557Z,1736358283.557 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-01-08T17:44:43.558Z,1736358283.558 [DAT](INFO): DAT read: user:352>

2025-01-08T17:44:43.559Z,1736358283.559 [DAT](INFO): DAT read: Tx time:17:44:42.8950

2025-01-08T17:44:43.559Z,1736358283.559 [DAT](INFO): Ping request sent.
2025-01-08T17:44:43.559Z,1736358283.559 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:44:43.559Z,1736358283.559 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:44:43.560Z,1736358283.560 [DAT](INFO): direction in FSK: [0.232872,0.955280,-0.182236]
2025-01-08T17:44:43.561Z,1736358283.561 [DAT](INFO): publishing transmit ping time
2025-01-08T17:44:43.561Z,1736358283.561 [DAT](INFO): publishing direction and range info
2025-01-08T17:44:43.564Z,1736358283.564 [DAT](INFO): publishing transmit ping time
2025-01-08T17:44:43.564Z,1736358283.564 [DAT](INFO): publishing direction and range info
2025-01-08T17:44:43.803Z,1736358283.803 [DAT](INFO): DAT read: TxSync time:17:44:42.8942

2025-01-08T17:44:43.899Z,1736358283.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:44.208Z,1736358284.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:44.615Z,1736358284.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:45.069Z,1736358285.069 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:45.456Z,1736358285.456 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:45.904Z,1736358285.904 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:46.228Z,1736358286.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:46.580Z,1736358286.580 [DAT](INFO): DAT read: Rx Time:17:44:45.3015

2025-01-08T17:44:46.581Z,1736358286.581 [DAT](INFO): Rx dataTimestamp_ set to:1736358286.580489
2025-01-08T17:44:46.645Z,1736358286.645 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:47.076Z,1736358287.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:47.085Z,1736358287.085 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-01-08T17:44:47.086Z,1736358287.086 [DAT](INFO): DAT read: user:353>

2025-01-08T17:44:47.087Z,1736358287.087 [DAT](INFO): DAT read: Tx time:17:44:46.3950

2025-01-08T17:44:47.087Z,1736358287.087 [DAT](INFO): Ping request sent.
2025-01-08T17:44:47.087Z,1736358287.087 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:44:47.088Z,1736358287.088 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-01-08T17:44:47.088Z,1736358287.088 [DAT](INFO): publishing transmit ping time
2025-01-08T17:44:47.089Z,1736358287.089 [DAT](INFO): publishing transmit ping time
2025-01-08T17:44:47.336Z,1736358287.336 [DAT](INFO): DAT read: TxSync time:17:44:46.3942

2025-01-08T17:44:47.448Z,1736358287.448 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:47.918Z,1736358287.918 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:48.258Z,1736358288.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:48.661Z,1736358288.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:49.102Z,1736358289.102 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:49.472Z,1736358289.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:49.951Z,1736358289.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:50.110Z,1736358290.110 [DAT](INFO): DAT read: Rx Time:17:44:48.8015

2025-01-08T17:44:50.112Z,1736358290.112 [DAT](INFO): Rx dataTimestamp_ set to:1736358290.110717
2025-01-08T17:44:50.352Z,1736358290.352 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:50.625Z,1736358290.625 [DAT](INFO): DAT read: 17:44:48.8015 LVL= 15248, 20209, 16306, 16643, AGC= 44, IDX= 433,-0.19, 1.437,-0.208,-0.927,-0.132, PHS= 1.657,-0.029,-0.798, RAW=  72.2,  -7.7, CAL=  81.9, -15.5, ROT=  68.1,  15.5

2025-01-08T17:44:50.626Z,1736358290.626 [DAT](INFO): got valid direction response:
 17:44:48.8015 LVL= 15248, 20209, 16306, 16643, AGC= 44, IDX= 433,-0.19, 1.437,-0.208,-0.927,-0.132, PHS= 1.657,-0.029,-0.798, RAW=  72.2,  -7.7, CAL=  81.9, -15.5, ROT=  68.1,  15.5

2025-01-08T17:44:50.627Z,1736358290.627 [DAT](INFO): DAT read: Bearing  68.1,  15.5 (Local)

2025-01-08T17:44:50.627Z,1736358290.627 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.1,  15.5 (Local)

2025-01-08T17:44:50.628Z,1736358290.628 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-01-08T17:44:50.629Z,1736358290.629 [DAT](INFO): DAT read: user:354>

2025-01-08T17:44:50.630Z,1736358290.630 [DAT](INFO): DAT read: Tx time:17:44:49.8950

2025-01-08T17:44:50.630Z,1736358290.630 [DAT](INFO): Ping request sent.
2025-01-08T17:44:50.630Z,1736358290.630 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:44:50.631Z,1736358290.631 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-01-08T17:44:50.632Z,1736358290.632 [DAT](INFO): direction in FSK: [0.359422,0.894091,-0.267238]
2025-01-08T17:44:50.632Z,1736358290.632 [DAT](INFO): publishing transmit ping time
2025-01-08T17:44:50.632Z,1736358290.632 [DAT](INFO): publishing direction and range info
2025-01-08T17:44:50.636Z,1736358290.636 [DAT](INFO): publishing transmit ping time
2025-01-08T17:44:50.636Z,1736358290.636 [DAT](INFO): publishing direction and range info
2025-01-08T17:44:50.791Z,1736358290.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:50.868Z,1736358290.868 [DAT](INFO): DAT read: TxSync time:17:44:49.8942

2025-01-08T17:44:51.179Z,1736358291.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:51.559Z,1736358291.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:52.093Z,1736358292.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:52.371Z,1736358292.371 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:52.777Z,1736358292.777 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:53.228Z,1736358293.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:53.589Z,1736358293.589 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:53.636Z,1736358293.636 [DAT](INFO): DAT read: Rx Time:17:44:52.3017

2025-01-08T17:44:53.637Z,1736358293.637 [DAT](INFO): Rx dataTimestamp_ set to:1736358293.636615
2025-01-08T17:44:54.124Z,1736358294.124 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:54.142Z,1736358294.142 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-01-08T17:44:54.143Z,1736358294.143 [DAT](INFO): DAT read: user:355>

2025-01-08T17:44:54.143Z,1736358294.143 [DAT](INFO): DAT read: Tx time:17:44:53.3951

2025-01-08T17:44:54.144Z,1736358294.144 [DAT](INFO): Ping request sent.
2025-01-08T17:44:54.144Z,1736358294.144 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:44:54.144Z,1736358294.144 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-01-08T17:44:54.144Z,1736358294.144 [DAT](INFO): publishing transmit ping time
2025-01-08T17:44:54.145Z,1736358294.145 [DAT](INFO): publishing transmit ping time
2025-01-08T17:44:54.392Z,1736358294.392 [DAT](INFO): DAT read: TxSync time:17:44:53.3943

2025-01-08T17:44:54.401Z,1736358294.401 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:54.819Z,1736358294.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:55.238Z,1736358295.238 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:55.593Z,1736358295.593 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:56.058Z,1736358296.058 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:56.399Z,1736358296.399 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:56.804Z,1736358296.804 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:57.165Z,1736358297.165 [DAT](INFO): DAT read: Rx:44:55.8013

2025-01-08T17:44:57.165Z,1736358297.165 [DAT](INFO): unknown deviceResponse_: Rx:44:55.8013

2025-01-08T17:44:57.232Z,1736358297.232 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25010809460233,35.0, +11.1,   0.0, 0
2025-01-08T17:44:57.239Z,1736358297.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:44:57.240Z,1736358297.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:57.622Z,1736358297.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:44:57.622Z,1736358297.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:57.670Z,1736358297.670 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-01-08T17:44:57.672Z,1736358297.672 [DAT](INFO): DAT read: user:356>

2025-01-08T17:44:57.673Z,1736358297.673 [DAT](INFO): DAT read: Tx time:17:44:56.8951

2025-01-08T17:44:57.673Z,1736358297.673 [DAT](INFO): Ping request sent.
2025-01-08T17:44:57.673Z,1736358297.673 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:44:57.674Z,1736358297.674 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-01-08T17:44:57.674Z,1736358297.674 [DAT](INFO): publishing transmit ping time
2025-01-08T17:44:57.675Z,1736358297.675 [DAT](INFO): publishing transmit ping time
2025-01-08T17:44:57.920Z,1736358297.920 [DAT](INFO): DAT read: TxSync time:17:44:56.8943

2025-01-08T17:44:58.072Z,1736358298.072 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:58.436Z,1736358298.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:58.832Z,1736358298.832 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:59.263Z,1736358299.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:44:59.656Z,1736358299.656 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:00.127Z,1736358300.127 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:00.444Z,1736358300.444 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:00.696Z,1736358300.696 [DAT](INFO): DAT read: Rx Time:17:44:59.3017

2025-01-08T17:45:00.696Z,1736358300.696 [DAT](INFO): Rx dataTimestamp_ set to:1736358300.696133
2025-01-08T17:45:00.854Z,1736358300.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:01.207Z,1736358301.207 [DAT](INFO): DAT read: 17:44:59.3017 LVL= 12080, 19425,  9490, 15475, AGC= 41, IDX= 434,-0.26, 1.520,-0.471,-0.799,-0.005, PHS= 1.613,-0.419,-0.797, RAW=  81.6,  -3.6, CAL=  89.7,  -9.9, ROT=  60.3,   9.9

2025-01-08T17:45:01.208Z,1736358301.208 [DAT](INFO): got valid direction response:
 17:44:59.3017 LVL= 12080, 19425,  9490, 15475, AGC= 41, IDX= 434,-0.26, 1.520,-0.471,-0.799,-0.005, PHS= 1.613,-0.419,-0.797, RAW=  81.6,  -3.6, CAL=  89.7,  -9.9, ROT=  60.3,   9.9

2025-01-08T17:45:01.209Z,1736358301.209 [DAT](INFO): DAT read: Bearing  60.3,   9.9 (Local)

2025-01-08T17:45:01.209Z,1736358301.209 [DAT](INFO): Local bearing/azimuth received:
 Bearing  60.3,   9.9 (Local)

2025-01-08T17:45:01.211Z,1736358301.211 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-01-08T17:45:01.236Z,1736358301.236 [DAT](INFO): DAT read: user:357>

2025-01-08T17:45:01.237Z,1736358301.237 [DAT](INFO): DAT read: Tx time:17:45:00.3951

2025-01-08T17:45:01.237Z,1736358301.237 [DAT](INFO): Ping request sent.
2025-01-08T17:45:01.237Z,1736358301.237 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:45:01.238Z,1736358301.238 [DAT](INFO): DAT read: TxSync time:17:45:00.3943

2025-01-08T17:45:01.238Z,1736358301.238 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-01-08T17:45:01.240Z,1736358301.240 [DAT](INFO): direction in FSK: [0.488081,0.855697,-0.171929]
2025-01-08T17:45:01.240Z,1736358301.240 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:01.240Z,1736358301.240 [DAT](INFO): publishing direction and range info
2025-01-08T17:45:01.252Z,1736358301.252 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:01.252Z,1736358301.252 [DAT](INFO): publishing direction and range info
2025-01-08T17:45:01.383Z,1736358301.383 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:01.682Z,1736358301.682 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:02.143Z,1736358302.143 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:02.494Z,1736358302.494 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:02.880Z,1736358302.880 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:03.308Z,1736358303.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:03.701Z,1736358303.701 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:03.976Z,1736358303.976 [DAT](INFO): DAT read: Rx Time:17:45:02.8017

2025-01-08T17:45:03.977Z,1736358303.977 [DAT](INFO): Rx dataTimestamp_ set to:1736358303.976432
2025-01-08T17:45:04.182Z,1736358304.182 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:04.530Z,1736358304.530 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:04.739Z,1736358304.739 [DAT](INFO): DAT read: 17:45:02.8018 LVL= 13760, 22353, 18034, 17987, AGC= 43, IDX= 418,-0.44,-2.500, 2.131, 1.436, 2.283, PHS= 1.588,-0.105,-0.850, RAW=  72.7,  -5.9, CAL=  81.4, -12.8, ROT=  68.6,  12.8

2025-01-08T17:45:04.740Z,1736358304.740 [DAT](INFO): got valid direction response:
 17:45:02.8018 LVL= 13760, 22353, 18034, 17987, AGC= 43, IDX= 418,-0.44,-2.500, 2.131, 1.436, 2.283, PHS= 1.588,-0.105,-0.850, RAW=  72.7,  -5.9, CAL=  81.4, -12.8, ROT=  68.6,  12.8

2025-01-08T17:45:04.741Z,1736358304.741 [DAT](INFO): DAT read: Bearing  68.6,  12.8 (Local)

2025-01-08T17:45:04.741Z,1736358304.741 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.6,  12.8 (Local)

2025-01-08T17:45:04.743Z,1736358304.743 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-01-08T17:45:04.744Z,1736358304.744 [DAT](INFO): DAT read: user:358>

2025-01-08T17:45:04.744Z,1736358304.744 [DAT](INFO): DAT read: Tx time:17:45:03.8952

2025-01-08T17:45:04.745Z,1736358304.745 [DAT](INFO): Ping request sent.
2025-01-08T17:45:04.745Z,1736358304.745 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:45:04.745Z,1736358304.745 [DAT](INFO): DAT read: TxSync time:17:45:03.8944

2025-01-08T17:45:04.746Z,1736358304.746 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-01-08T17:45:04.747Z,1736358304.747 [DAT](INFO): direction in FSK: [0.355809,0.907918,-0.221548]
2025-01-08T17:45:04.748Z,1736358304.748 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:04.748Z,1736358304.748 [DAT](INFO): publishing direction and range info
2025-01-08T17:45:04.757Z,1736358304.757 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:04.757Z,1736358304.757 [DAT](INFO): publishing direction and range info
2025-01-08T17:45:05.009Z,1736358305.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:05.391Z,1736358305.391 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:05.742Z,1736358305.742 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:06.211Z,1736358306.211 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:06.533Z,1736358306.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:06.966Z,1736358306.966 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:07.464Z,1736358307.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:07.529Z,1736358307.529 [DAT](INFO): DAT read: Rx Time:17:45:06.3017

2025-01-08T17:45:07.530Z,1736358307.530 [DAT](INFO): Rx dataTimestamp_ set to:1736358307.529388
2025-01-08T17:45:07.765Z,1736358307.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:08.033Z,1736358308.033 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-01-08T17:45:08.034Z,1736358308.034 [DAT](INFO): DAT read: user:359>

2025-01-08T17:45:08.035Z,1736358308.035 [DAT](INFO): DAT read: Tx time:17:45:07.3952

2025-01-08T17:45:08.035Z,1736358308.035 [DAT](INFO): Ping request sent.
2025-01-08T17:45:08.035Z,1736358308.035 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:45:08.035Z,1736358308.035 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-01-08T17:45:08.036Z,1736358308.036 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:08.036Z,1736358308.036 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:08.250Z,1736358308.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:08.290Z,1736358308.290 [DAT](INFO): DAT read: TxSync time:17:45:07.3944

2025-01-08T17:45:08.576Z,1736358308.576 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:08.956Z,1736358308.956 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:09.427Z,1736358309.427 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:09.770Z,1736358309.770 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:10.249Z,1736358310.249 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:10.585Z,1736358310.585 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:10.981Z,1736358310.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:11.065Z,1736358311.065 [DAT](INFO): DAT read: Rx Time:17:45:09.8014

2025-01-08T17:45:11.066Z,1736358311.066 [DAT](INFO): Rx dataTimestamp_ set to:1736358311.065683
2025-01-08T17:45:11.432Z,1736358311.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:11.576Z,1736358311.576 [DAT](INFO): DAT read: 17:45:09.8014 LVL= 14144, 23905, 22658, 21635, AGC= 40, IDX= 431,-0.14, 2.975,-1.352,-2.068,-1.216, PHS=-2.005,-0.090,-0.856, RAW= 293.4,  32.0, CAL= 302.7,  34.7, ROT= 207.3, -34.7

2025-01-08T17:45:11.577Z,1736358311.577 [DAT](INFO): got valid direction response:
 17:45:09.8014 LVL= 14144, 23905, 22658, 21635, AGC= 40, IDX= 431,-0.14, 2.975,-1.352,-2.068,-1.216, PHS=-2.005,-0.090,-0.856, RAW= 293.4,  32.0, CAL= 302.7,  34.7, ROT= 207.3, -34.7

2025-01-08T17:45:11.578Z,1736358311.578 [DAT](INFO): DAT read: Bearing 207.3, -34.7 (Local)

2025-01-08T17:45:11.579Z,1736358311.579 [DAT](INFO): Local bearing/azimuth received:
 Bearing 207.3, -34.7 (Local)

2025-01-08T17:45:11.585Z,1736358311.585 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-01-08T17:45:11.586Z,1736358311.586 [DAT](INFO): DAT read: user:360>

2025-01-08T17:45:11.587Z,1736358311.587 [DAT](INFO): DAT read: Tx time:17:45:10.8952

2025-01-08T17:45:11.587Z,1736358311.587 [DAT](INFO): Ping request sent.
2025-01-08T17:45:11.587Z,1736358311.587 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:45:11.588Z,1736358311.588 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-01-08T17:45:11.589Z,1736358311.589 [DAT](INFO): direction in FSK: [-0.730571,-0.377076,0.569280]
2025-01-08T17:45:11.589Z,1736358311.589 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:11.590Z,1736358311.590 [DAT](INFO): publishing direction and range info
2025-01-08T17:45:11.593Z,1736358311.593 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:11.593Z,1736358311.593 [DAT](INFO): publishing direction and range info
2025-01-08T17:45:11.805Z,1736358311.805 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:11.821Z,1736358311.821 [DAT](INFO): DAT read: TxSync time:17:45:10.8944

2025-01-08T17:45:12.256Z,1736358312.256 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:12.618Z,1736358312.618 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:13.004Z,1736358313.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:13.441Z,1736358313.441 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:13.808Z,1736358313.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:14.235Z,1736358314.235 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:14.593Z,1736358314.593 [DAT](INFO): DAT read: Rx Time:17:45:13.3017

2025-01-08T17:45:14.593Z,1736358314.593 [DAT](INFO): Rx dataTimestamp_ set to:1736358314.592853
2025-01-08T17:45:14.652Z,1736358314.652 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:15.029Z,1736358315.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:15.097Z,1736358315.097 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-01-08T17:45:15.098Z,1736358315.098 [DAT](INFO): DAT read: user:361>

2025-01-08T17:45:15.099Z,1736358315.099 [DAT](INFO): DAT read: Tx time:17:45:14.3952

2025-01-08T17:45:15.099Z,1736358315.099 [DAT](INFO): Ping request sent.
2025-01-08T17:45:15.099Z,1736358315.099 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:45:15.100Z,1736358315.100 [DAT](ERROR): #Rx 10: Read range message, but no direction.
2025-01-08T17:45:15.100Z,1736358315.100 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:15.100Z,1736358315.100 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:15.348Z,1736358315.348 [DAT](INFO): DAT read: TxSync time:17:45:14.3945

2025-01-08T17:45:15.475Z,1736358315.475 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:15.837Z,1736358315.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:16.233Z,1736358316.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:16.660Z,1736358316.660 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:17.036Z,1736358317.036 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:17.481Z,1736358317.481 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:17.847Z,1736358317.847 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:18.120Z,1736358318.120 [DAT](INFO): DAT read: Rx Time:17:45:16.8018

2025-01-08T17:45:18.121Z,1736358318.121 [DAT](INFO): Rx dataTimestamp_ set to:1736358318.120477
2025-01-08T17:45:18.414Z,1736358318.414 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:18.625Z,1736358318.625 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-01-08T17:45:18.626Z,1736358318.626 [DAT](INFO): DAT read: user:362>

2025-01-08T17:45:18.627Z,1736358318.627 [DAT](INFO): DAT read: Tx time:17:45:17.8953

2025-01-08T17:45:18.635Z,1736358318.635 [DAT](INFO): Ping request sent.
2025-01-08T17:45:18.635Z,1736358318.635 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:45:18.636Z,1736358318.636 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-01-08T17:45:18.636Z,1736358318.636 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:18.636Z,1736358318.636 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:18.649Z,1736358318.649 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-01-08T17:45:18.705Z,1736358318.705 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:18.877Z,1736358318.877 [DAT](INFO): DAT read: TxSync time:17:45:17.8945

2025-01-08T17:45:19.076Z,1736358319.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:19.533Z,1736358319.533 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:19.886Z,1736358319.886 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:20.307Z,1736358320.307 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:20.791Z,1736358320.791 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:21.112Z,1736358321.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:21.550Z,1736358321.550 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:21.655Z,1736358321.655 [DAT](INFO): DAT read: Rx Time:17:45:20.3019

2025-01-08T17:45:21.656Z,1736358321.656 [DAT](INFO): Rx dataTimestamp_ set to:1736358321.655617
2025-01-08T17:45:21.933Z,1736358321.933 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:22.161Z,1736358322.161 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-01-08T17:45:22.162Z,1736358322.162 [DAT](INFO): DAT read: user:363>

2025-01-08T17:45:22.163Z,1736358322.163 [DAT](INFO): DAT read: Tx time:17:45:21.3953

2025-01-08T17:45:22.163Z,1736358322.163 [DAT](INFO): Ping request sent.
2025-01-08T17:45:22.163Z,1736358322.163 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:45:22.163Z,1736358322.163 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-01-08T17:45:22.164Z,1736358322.164 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:22.164Z,1736358322.164 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:22.320Z,1736358322.320 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:22.414Z,1736358322.414 [DAT](INFO): DAT read: TxSync time:17:45:21.3945

2025-01-08T17:45:22.733Z,1736358322.733 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:23.120Z,1736358323.120 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:23.569Z,1736358323.569 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:23.930Z,1736358323.930 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:24.331Z,1736358324.331 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:24.786Z,1736358324.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:25.152Z,1736358325.152 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:25.187Z,1736358325.187 [DAT](INFO): DAT read: Rx Time:17:45:23.8015

2025-01-08T17:45:25.187Z,1736358325.187 [DAT](INFO): Rx dataTimestamp_ set to:1736358325.186927
2025-01-08T17:45:25.608Z,1736358325.608 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:25.700Z,1736358325.700 [DAT](INFO): DAT read: 17:45:23.8015 LVL= 13488, 30097, 26674, 26483, AGC= 41, IDX= 435,-0.27, 0.575, 1.613, 1.074, 1.951, PHS=-1.289,-0.291,-0.880, RAW= 306.0,  45.0, CAL= 313.1,  45.0, ROT= 196.9, -45.0

2025-01-08T17:45:25.708Z,1736358325.708 [DAT](INFO): got valid direction response:
 17:45:23.8015 LVL= 13488, 30097, 26674, 26483, AGC= 41, IDX= 435,-0.27, 0.575, 1.613, 1.074, 1.951, PHS=-1.289,-0.291,-0.880, RAW= 306.0,  45.0, CAL= 313.1,  45.0, ROT= 196.9, -45.0

2025-01-08T17:45:25.710Z,1736358325.710 [DAT](INFO): DAT read: Bearing 196.9, -45.0 (Local)

2025-01-08T17:45:25.710Z,1736358325.710 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.9, -45.0 (Local)

2025-01-08T17:45:25.712Z,1736358325.712 [DAT](INFO): DAT read: Range 10 to 50 : 1.5 m  (Round-trip  2.1 ms) speed  0.0 m/s

2025-01-08T17:45:25.713Z,1736358325.713 [DAT](INFO): DAT read: user:364>

2025-01-08T17:45:25.713Z,1736358325.713 [DAT](INFO): DAT read: Tx time:17:45:24.8953

2025-01-08T17:45:25.714Z,1736358325.714 [DAT](INFO): Ping request sent.
2025-01-08T17:45:25.714Z,1736358325.714 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:45:25.714Z,1736358325.714 [DAT](INFO): DAT read: TxSync time:17:45:24.8945

2025-01-08T17:45:25.715Z,1736358325.715 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-01-08T17:45:25.733Z,1736358325.733 [DAT](INFO): direction in FSK: [-0.676569,-0.205557,0.707107]
2025-01-08T17:45:25.733Z,1736358325.733 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:25.734Z,1736358325.734 [DAT](INFO): publishing direction and range info
2025-01-08T17:45:25.745Z,1736358325.745 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:25.745Z,1736358325.745 [DAT](INFO): publishing direction and range info
2025-01-08T17:45:25.962Z,1736358325.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:25.969Z,1736358325.969 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-01-08T17:45:25.969Z,1736358325.969 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-01-08T17:45:26.012Z,1736358326.012 [DockingStepper](INFO): Changing to mode: 4
2025-01-08T17:45:26.012Z,1736358326.012 [DockingStepper](INFO): Slide mode.
2025-01-08T17:45:26.075Z,1736358326.075 [DockingStepper](INFO): Commanding negative:34798
2025-01-08T17:45:26.192Z,1736358326.192 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-01-08T17:45:26.363Z,1736358326.363 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:26.447Z,1736358326.447 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-01-08T17:45:26.699Z,1736358326.699 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-01-08T17:45:26.798Z,1736358326.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:27.205Z,1736358327.205 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:27.754Z,1736358327.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:28.007Z,1736358328.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:28.484Z,1736358328.484 [DAT](INFO): DAT read: Rx Time:17:45:27.3018

2025-01-08T17:45:28.485Z,1736358328.485 [DAT](INFO): Rx dataTimestamp_ set to:1736358328.484311
2025-01-08T17:45:28.493Z,1736358328.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:28.842Z,1736358328.842 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:29.228Z,1736358329.228 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:29.244Z,1736358329.244 [DAT](INFO): DAT read: 17:45:27.3018 LVL= 13968, 18481, 15906, 18643, AGC= 42, IDX= 419, 0.29, 1.532, 1.926, 1.937,-2.468, PHS=-2.195,-1.842,-1.881, RAW= 275.8,  80.9, CAL= 278.1,  81.7, ROT= 231.9, -81.7

2025-01-08T17:45:29.245Z,1736358329.245 [DAT](INFO): got valid direction response:
 17:45:27.3018 LVL= 13968, 18481, 15906, 18643, AGC= 42, IDX= 419, 0.29, 1.532, 1.926, 1.937,-2.468, PHS=-2.195,-1.842,-1.881, RAW= 275.8,  80.9, CAL= 278.1,  81.7, ROT= 231.9, -81.7

2025-01-08T17:45:29.246Z,1736358329.246 [DAT](INFO): DAT read: Bearing 231.9, -81.7 (Local)

2025-01-08T17:45:29.246Z,1736358329.246 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.9, -81.7 (Local)

2025-01-08T17:45:29.248Z,1736358329.248 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-01-08T17:45:29.249Z,1736358329.249 [DAT](INFO): DAT read: user:365>

2025-01-08T17:45:29.250Z,1736358329.250 [DAT](INFO): DAT read: Tx time:17:45:28.3953

2025-01-08T17:45:29.250Z,1736358329.250 [DAT](INFO): Ping request sent.
2025-01-08T17:45:29.250Z,1736358329.250 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:45:29.251Z,1736358329.251 [DAT](INFO): DAT read: TxSync time:17:45:28.3946

2025-01-08T17:45:29.251Z,1736358329.251 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-01-08T17:45:29.252Z,1736358329.252 [DAT](INFO): direction in FSK: [-0.089073,-0.113599,0.989526]
2025-01-08T17:45:29.253Z,1736358329.253 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:29.253Z,1736358329.253 [DAT](INFO): publishing direction and range info
2025-01-08T17:45:29.273Z,1736358329.273 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:29.273Z,1736358329.273 [DAT](INFO): publishing direction and range info
2025-01-08T17:45:29.661Z,1736358329.661 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:30.029Z,1736358330.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:30.436Z,1736358330.436 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:30.916Z,1736358330.916 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:31.250Z,1736358331.250 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:31.746Z,1736358331.746 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:32.008Z,1736358332.008 [DAT](INFO): DAT read: Rx Time:17:45:30.8017

2025-01-08T17:45:32.009Z,1736358332.009 [DAT](INFO): Rx dataTimestamp_ set to:1736358332.008568
2025-01-08T17:45:32.068Z,1736358332.068 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:32.518Z,1736358332.518 [DAT](INFO): DAT read: Range 10 to 50 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2025-01-08T17:45:32.521Z,1736358332.521 [DAT](INFO): DAT read: user:366>

2025-01-08T17:45:32.524Z,1736358332.524 [DAT](INFO): DAT read: Tx time:17:45:31.8954

2025-01-08T17:45:32.526Z,1736358332.526 [DAT](INFO): Ping request sent.
2025-01-08T17:45:32.526Z,1736358332.526 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:45:32.528Z,1736358332.528 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-01-08T17:45:32.528Z,1736358332.528 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:32.530Z,1736358332.530 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:32.556Z,1736358332.556 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:32.765Z,1736358332.765 [DAT](INFO): DAT read: TxSync time:17:45:31.8946

2025-01-08T17:45:32.892Z,1736358332.892 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:33.258Z,1736358333.258 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:33.718Z,1736358333.718 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:34.138Z,1736358334.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:34.504Z,1736358334.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:34.910Z,1736358334.910 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:35.302Z,1736358335.302 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:35.547Z,1736358335.547 [DAT](INFO): DAT read: Rx Time:17:45:34.3018

2025-01-08T17:45:35.549Z,1736358335.549 [DAT](INFO): Rx dataTimestamp_ set to:1736358335.548028
2025-01-08T17:45:35.754Z,1736358335.754 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:36.053Z,1736358336.053 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m  (Round-trip  2.3 ms) speed  0.0 m/s

2025-01-08T17:45:36.054Z,1736358336.054 [DAT](INFO): DAT read: user:367>

2025-01-08T17:45:36.056Z,1736358336.056 [DAT](INFO): DAT read: Tx time:17:45:35.3954

2025-01-08T17:45:36.056Z,1736358336.056 [DAT](INFO): Ping request sent.
2025-01-08T17:45:36.056Z,1736358336.056 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:45:36.056Z,1736358336.056 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-01-08T17:45:36.056Z,1736358336.056 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:36.057Z,1736358336.057 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:36.089Z,1736358336.089 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:36.305Z,1736358336.305 [DAT](INFO): DAT read: TxSync time:17:45:35.3946

2025-01-08T17:45:36.495Z,1736358336.495 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:36.924Z,1736358336.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:37.311Z,1736358337.311 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:37.738Z,1736358337.738 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:38.110Z,1736358338.110 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:38.528Z,1736358338.528 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:38.988Z,1736358338.988 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:39.077Z,1736358339.077 [DAT](INFO): DAT read: Rx Time:17:45:37.8018

2025-01-08T17:45:39.078Z,1736358339.078 [DAT](INFO): Rx dataTimestamp_ set to:1736358339.077549
2025-01-08T17:45:39.324Z,1736358339.324 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:39.626Z,1736358339.626 [DAT](INFO): DAT read: 17:45:37.8019 LVL= 19440, 14833, 17058, 19491, AGC= 41, IDX= 435, 0.31, 2.791,-2.160, 2.335,-2.855, PHS=-0.549, 0.741,-1.097, RAW= 346.9,  11.1, CAL= 348.1,  16.2, ROT= 161.9, -16.2

2025-01-08T17:45:39.636Z,1736358339.636 [DAT](INFO): got valid direction response:
 17:45:37.8019 LVL= 19440, 14833, 17058, 19491, AGC= 41, IDX= 435, 0.31, 2.791,-2.160, 2.335,-2.855, PHS=-0.549, 0.741,-1.097, RAW= 346.9,  11.1, CAL= 348.1,  16.2, ROT= 161.9, -16.2

2025-01-08T17:45:39.637Z,1736358339.637 [DAT](INFO): DAT read: Bearing 161.9, -16.2 (Local)

2025-01-08T17:45:39.637Z,1736358339.637 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.9, -16.2 (Local)

2025-01-08T17:45:39.639Z,1736358339.639 [DAT](INFO): DAT read: Range 10 to 50 : 1.7 m  (Round-trip  2.3 ms) speed  0.0 m/s

2025-01-08T17:45:39.640Z,1736358339.640 [DAT](INFO): DAT read: user:368>

2025-01-08T17:45:39.641Z,1736358339.641 [DAT](INFO): DAT read: Tx time:17:45:38.8955

2025-01-08T17:45:39.641Z,1736358339.641 [DAT](INFO): Ping request sent.
2025-01-08T17:45:39.641Z,1736358339.641 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:45:39.642Z,1736358339.642 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-01-08T17:45:39.642Z,1736358339.642 [DAT](INFO): direction in FSK: [-0.912774,0.298341,0.278991]
2025-01-08T17:45:39.643Z,1736358339.643 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:39.676Z,1736358339.676 [DAT](INFO): publishing direction and range info
2025-01-08T17:45:39.694Z,1736358339.694 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:39.694Z,1736358339.694 [DAT](INFO): publishing direction and range info
2025-01-08T17:45:39.833Z,1736358339.833 [DAT](INFO): DAT read: TxSync time:17:45:38.8947

2025-01-08T17:45:39.851Z,1736358339.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:40.140Z,1736358340.140 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:40.553Z,1736358340.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:40.981Z,1736358340.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:41.353Z,1736358341.353 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:41.789Z,1736358341.789 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:42.158Z,1736358342.158 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:42.605Z,1736358342.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:42.643Z,1736358342.643 [DAT](INFO): DAT read: Rx Time:17:45:41.3015

2025-01-08T17:45:42.645Z,1736358342.645 [DAT](INFO): Rx dataTimestamp_ set to:1736358342.643973
2025-01-08T17:45:43.017Z,1736358343.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:43.146Z,1736358343.146 [DAT](INFO): DAT read: Range 10 to 50 : 1.4 m  (Round-trip  1.9 ms) speed  0.0 m/s

2025-01-08T17:45:43.148Z,1736358343.148 [DAT](INFO): DAT read: user:369>

2025-01-08T17:45:43.149Z,1736358343.149 [DAT](INFO): DAT read: Tx time:17:45:42.3955

2025-01-08T17:45:43.149Z,1736358343.149 [DAT](INFO): Ping request sent.
2025-01-08T17:45:43.149Z,1736358343.149 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:45:43.150Z,1736358343.150 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-01-08T17:45:43.150Z,1736358343.150 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:43.150Z,1736358343.150 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:43.378Z,1736358343.378 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:43.396Z,1736358343.396 [DAT](INFO): DAT read: TxSync time:17:45:42.3947

2025-01-08T17:45:43.800Z,1736358343.800 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:44.178Z,1736358344.178 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:44.577Z,1736358344.577 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:45.018Z,1736358345.018 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:45.461Z,1736358345.461 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:45.848Z,1736358345.848 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:46.176Z,1736358346.176 [DAT](INFO): DAT read: Rx Time:17:45:44.8013

2025-01-08T17:45:46.177Z,1736358346.177 [DAT](INFO): Rx dataTimestamp_ set to:1736358346.176603
2025-01-08T17:45:46.222Z,1736358346.222 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:46.628Z,1736358346.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:46.682Z,1736358346.682 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m  (Round-trip  1.7 ms) speed  0.0 m/s

2025-01-08T17:45:46.684Z,1736358346.684 [DAT](INFO): DAT read: user:370>

2025-01-08T17:45:46.685Z,1736358346.685 [DAT](INFO): DAT read: Tx time:17:45:45.8945

2025-01-08T17:45:46.685Z,1736358346.685 [DAT](INFO): Ping request sent.
2025-01-08T17:45:46.685Z,1736358346.685 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:45:46.687Z,1736358346.687 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-01-08T17:45:46.688Z,1736358346.688 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:46.692Z,1736358346.692 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:47.057Z,1736358347.057 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:47.418Z,1736358347.418 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:47.898Z,1736358347.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:48.254Z,1736358348.254 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:48.641Z,1736358348.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:48.948Z,1736358348.948 [DAT](INFO): DAT read: Rx Time:17:45:47.7535

2025-01-08T17:45:48.949Z,1736358348.949 [DAT](INFO): Rx dataTimestamp_ set to:1736358348.948515
2025-01-08T17:45:49.055Z,1736358349.055 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:49.453Z,1736358349.453 [DAT](INFO): DAT read: OK

2025-01-08T17:45:49.453Z,1736358349.453 [DAT](INFO): unknown deviceResponse_: OK

2025-01-08T17:45:49.454Z,1736358349.454 [DAT](INFO): DAT read: user:371>

2025-01-08T17:45:49.455Z,1736358349.455 [DAT](INFO): DAT read: Tx time:17:45:48.8445

2025-01-08T17:45:49.456Z,1736358349.456 [DAT](INFO): Ping request sent.
2025-01-08T17:45:49.456Z,1736358349.456 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:45:49.456Z,1736358349.456 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:49.457Z,1736358349.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:49.866Z,1736358349.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:50.236Z,1736358350.236 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:50.641Z,1736358350.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:51.076Z,1736358351.076 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:51.445Z,1736358351.445 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:51.872Z,1736358351.872 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:51.973Z,1736358351.973 [DAT](INFO): DAT read: Rx Time:17:45:50.7038

2025-01-08T17:45:51.974Z,1736358351.974 [DAT](INFO): Rx dataTimestamp_ set to:1736358351.973341
2025-01-08T17:45:52.257Z,1736358352.257 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:52.476Z,1736358352.476 [DAT](INFO): DAT read: OK

2025-01-08T17:45:52.476Z,1736358352.476 [DAT](INFO): unknown deviceResponse_: OK

2025-01-08T17:45:52.477Z,1736358352.477 [DAT](INFO): DAT read: user:372>

2025-01-08T17:45:52.477Z,1736358352.477 [DAT](INFO): DAT read: Tx time:17:45:51.7946

2025-01-08T17:45:52.478Z,1736358352.478 [DAT](INFO): Ping request sent.
2025-01-08T17:45:52.478Z,1736358352.478 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:45:52.478Z,1736358352.478 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:52.684Z,1736358352.684 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:53.104Z,1736358353.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:53.464Z,1736358353.464 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:53.896Z,1736358353.896 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:54.289Z,1736358354.289 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:54.708Z,1736358354.708 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:54.716Z,1736358354.716 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:45:54.745Z,1736358354.745 [DAT](INFO): ****** received valid address query ******
2025-01-08T17:45:54.745Z,1736358354.745 [DAT](INFO): ****** received valid ping request ******
2025-01-08T17:45:54.746Z,1736358354.746 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:45:54.996Z,1736358354.996 [DAT](INFO): DAT read: Rx Time:17:45:53.6541

2025-01-08T17:45:54.997Z,1736358354.997 [DAT](INFO): Rx dataTimestamp_ set to:1736358354.996531
2025-01-08T17:45:54.997Z,1736358354.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519499
2025-01-08T17:45:55.117Z,1736358355.117 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:55.249Z,1736358355.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771108
2025-01-08T17:45:55.488Z,1736358355.488 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:55.500Z,1736358355.500 [DAT](INFO): DAT read: OK

2025-01-08T17:45:55.500Z,1736358355.500 [DAT](INFO): unknown deviceResponse_: OK

2025-01-08T17:45:55.501Z,1736358355.501 [DAT](INFO): DAT read: user:373>

2025-01-08T17:45:55.502Z,1736358355.502 [DAT](INFO): DAT read: Tx time:17:45:54.7456

2025-01-08T17:45:55.502Z,1736358355.502 [DAT](INFO): Ping request sent.
2025-01-08T17:45:55.502Z,1736358355.502 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:45:55.502Z,1736358355.502 [DAT](INFO): publishing transmit ping time
2025-01-08T17:45:55.503Z,1736358355.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-01-08T17:45:55.752Z,1736358355.752 [DAT](INFO): DAT read: TxSync time:17:45:54.7448

2025-01-08T17:45:55.753Z,1736358355.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251170
2025-01-08T17:45:55.923Z,1736358355.923 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:56.005Z,1736358356.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502858
2025-01-08T17:45:56.256Z,1736358356.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754274
2025-01-08T17:45:56.290Z,1736358356.290 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:56.513Z,1736358356.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010557
2025-01-08T17:45:56.724Z,1736358356.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:56.765Z,1736358356.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262903
2025-01-08T17:45:57.016Z,1736358357.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514256
2025-01-08T17:45:57.130Z,1736358357.130 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:57.268Z,1736358357.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766376
2025-01-08T17:45:57.520Z,1736358357.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018141
2025-01-08T17:45:57.536Z,1736358357.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:57.772Z,1736358357.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270449
2025-01-08T17:45:57.959Z,1736358357.959 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:58.025Z,1736358358.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522800
2025-01-08T17:45:58.276Z,1736358358.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774261
2025-01-08T17:45:58.359Z,1736358358.359 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:58.528Z,1736358358.528 [DAT](INFO): DAT read: Rx Time:17:45:57.1527

2025-01-08T17:45:58.529Z,1736358358.529 [DAT](INFO): Rx dataTimestamp_ set to:1736358358.528645
2025-01-08T17:45:58.529Z,1736358358.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027471
2025-01-08T17:45:58.780Z,1736358358.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278301
2025-01-08T17:45:58.806Z,1736358358.806 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:59.033Z,1736358359.033 [DAT](INFO): DAT read: Range 10 to 50 : 2.2 m  (Round-trip  3.0 ms) speed  0.0 m/s

2025-01-08T17:45:59.034Z,1736358359.034 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-01-08T17:45:59.190Z,1736358359.190 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:45:59.543Z,1736358359.543 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:00.009Z,1736358360.009 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:00.332Z,1736358360.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:00.756Z,1736358360.756 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:01.180Z,1736358361.180 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:01.627Z,1736358361.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:02.061Z,1736358362.061 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:02.396Z,1736358362.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:02.753Z,1736358362.753 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:03.214Z,1736358363.214 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:03.566Z,1736358363.566 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:04.034Z,1736358364.034 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:04.373Z,1736358364.373 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:04.785Z,1736358364.785 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:05.202Z,1736358365.202 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:05.611Z,1736358365.611 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:06.067Z,1736358366.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:06.389Z,1736358366.389 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:06.812Z,1736358366.812 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:07.233Z,1736358367.233 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:07.630Z,1736358367.630 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:08.060Z,1736358368.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:08.432Z,1736358368.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:46:08.432Z,1736358368.432 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:08.833Z,1736358368.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:46:08.833Z,1736358368.833 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:09.247Z,1736358369.247 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:09.633Z,1736358369.633 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:10.094Z,1736358370.094 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:10.474Z,1736358370.474 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:10.856Z,1736358370.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:11.280Z,1736358371.280 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:11.666Z,1736358371.666 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:12.203Z,1736358372.203 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:12.505Z,1736358372.505 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:12.901Z,1736358372.901 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:13.332Z,1736358373.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:13.694Z,1736358373.694 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:14.201Z,1736358374.201 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:14.516Z,1736358374.516 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:14.891Z,1736358374.891 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:15.322Z,1736358375.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:15.778Z,1736358375.778 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:16.217Z,1736358376.217 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:16.548Z,1736358376.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:16.935Z,1736358376.935 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:17.339Z,1736358377.339 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:17.728Z,1736358377.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:18.126Z,1736358378.126 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:18.617Z,1736358378.617 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:18.928Z,1736358378.928 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:19.368Z,1736358379.368 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:19.752Z,1736358379.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:20.156Z,1736358380.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:20.580Z,1736358380.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:20.949Z,1736358380.949 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:21.380Z,1736358381.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:21.757Z,1736358381.757 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:22.161Z,1736358382.161 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:22.587Z,1736358382.587 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:22.976Z,1736358382.976 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:23.398Z,1736358383.398 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:23.780Z,1736358383.780 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:24.184Z,1736358384.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:24.615Z,1736358384.615 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:25.060Z,1736358385.060 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:25.477Z,1736358385.477 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:25.837Z,1736358385.837 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:26.221Z,1736358386.221 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:26.641Z,1736358386.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:27.041Z,1736358387.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:27.457Z,1736358387.457 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:27.819Z,1736358387.819 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:28.230Z,1736358388.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:28.665Z,1736358388.665 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:29.029Z,1736358389.029 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:29.536Z,1736358389.536 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:29.868Z,1736358389.868 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:30.279Z,1736358390.279 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:30.710Z,1736358390.710 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:31.059Z,1736358391.059 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:31.483Z,1736358391.483 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:31.857Z,1736358391.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:32.260Z,1736358392.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:32.722Z,1736358392.722 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:33.080Z,1736358393.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:33.504Z,1736358393.504 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:33.878Z,1736358393.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:34.308Z,1736358394.308 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:34.734Z,1736358394.734 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:35.093Z,1736358395.093 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:35.523Z,1736358395.523 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:35.908Z,1736358395.908 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:36.301Z,1736358396.301 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:36.748Z,1736358396.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:37.128Z,1736358397.128 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:37.548Z,1736358397.548 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:37.992Z,1736358397.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:38.330Z,1736358398.330 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:38.786Z,1736358398.786 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:39.156Z,1736358399.156 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:39.582Z,1736358399.582 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:39.945Z,1736358399.945 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:40.360Z,1736358400.360 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:40.783Z,1736358400.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:41.149Z,1736358401.149 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:41.605Z,1736358401.605 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:41.973Z,1736358401.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:42.369Z,1736358402.369 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:42.809Z,1736358402.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:43.240Z,1736358403.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:43.658Z,1736358403.658 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:44.006Z,1736358404.006 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:44.404Z,1736358404.404 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:44.811Z,1736358404.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:45.208Z,1736358405.208 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:45.657Z,1736358405.657 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:46.011Z,1736358406.011 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:46.405Z,1736358406.405 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:46.846Z,1736358406.846 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:47.215Z,1736358407.215 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:47.715Z,1736358407.715 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:48.028Z,1736358408.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:48.423Z,1736358408.423 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:48.866Z,1736358408.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:49.230Z,1736358409.230 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:49.697Z,1736358409.697 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:50.123Z,1736358410.123 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:50.252Z,1736358410.252 [MassServo](FAULT): Reading outside of valid range:427097.000000

2025-01-08T17:46:50.446Z,1736358410.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:50.866Z,1736358410.866 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:51.326Z,1736358411.326 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:51.763Z,1736358411.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:52.095Z,1736358412.095 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:52.507Z,1736358412.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:52.898Z,1736358412.898 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:53.285Z,1736358413.285 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:53.752Z,1736358413.752 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:54.105Z,1736358414.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:54.489Z,1736358414.489 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:54.917Z,1736358414.917 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:55.295Z,1736358415.295 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:55.720Z,1736358415.720 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:56.131Z,1736358416.131 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:56.138Z,1736358416.138 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-01-08T17:46:56.139Z,1736358416.139 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-01-08T17:46:56.165Z,1736358416.165 [DockingStepper](INFO): Changing to mode: 1
2025-01-08T17:46:56.165Z,1736358416.165 [DockingStepper](INFO): Standby mode.
2025-01-08T17:46:56.220Z,1736358416.220 [DockingStepper](INFO): Commanding positive:34589
2025-01-08T17:46:56.578Z,1736358416.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:56.772Z,1736358416.772 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-01-08T17:46:57.005Z,1736358417.005 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:57.021Z,1736358417.021 [DAT](INFO): DAT read: user:374>

2025-01-08T17:46:57.022Z,1736358417.022 [DAT](INFO): DAT read: Tx time:17:46:56.2452

2025-01-08T17:46:57.022Z,1736358417.022 [DAT](INFO): Ping request sent.
2025-01-08T17:46:57.022Z,1736358417.022 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:46:57.023Z,1736358417.023 [DAT](INFO): publishing transmit ping time
2025-01-08T17:46:57.023Z,1736358417.023 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-01-08T17:46:57.272Z,1736358417.272 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-01-08T17:46:57.357Z,1736358417.357 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:57.760Z,1736358417.760 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:58.186Z,1736358418.186 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:58.542Z,1736358418.542 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:59.012Z,1736358419.012 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:59.292Z,1736358419.292 [DAT](INFO): DAT read: Rx Time:17:46:58.1049

2025-01-08T17:46:59.293Z,1736358419.293 [DAT](INFO): Rx dataTimestamp_ set to:1736358419.292530
2025-01-08T17:46:59.340Z,1736358419.340 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:59.745Z,1736358419.745 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:46:59.832Z,1736358419.832 [DAT](INFO): DAT read: 17:46:58.1049 LVL= 18656, 32753, 30786, 28211, AGC= 40, IDX= 475, 0.17, 1.351, 2.816, 1.963,-2.682, PHS=-2.163,-0.739,-1.642, RAW= 308.8,  52.2, CAL= 314.5,  52.1, ROT= 195.5, -52.1

2025-01-08T17:46:59.839Z,1736358419.839 [DAT](INFO): got valid direction response:
 17:46:58.1049 LVL= 18656, 32753, 30786, 28211, AGC= 40, IDX= 475, 0.17, 1.351, 2.816, 1.963,-2.682, PHS=-2.163,-0.739,-1.642, RAW= 308.8,  52.2, CAL= 314.5,  52.1, ROT= 195.5, -52.1

2025-01-08T17:46:59.840Z,1736358419.840 [DAT](INFO): DAT read: OK

2025-01-08T17:46:59.840Z,1736358419.840 [DAT](INFO): unknown deviceResponse_: OK

2025-01-08T17:46:59.840Z,1736358419.840 [DAT](INFO): DAT read: user:375>

2025-01-08T17:46:59.841Z,1736358419.841 [DAT](INFO): DAT read: Tx time:17:46:59.1959

2025-01-08T17:46:59.841Z,1736358419.841 [DAT](INFO): Ping request sent.
2025-01-08T17:46:59.842Z,1736358419.842 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:46:59.842Z,1736358419.842 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-01-08T17:46:59.843Z,1736358419.843 [DAT](INFO): direction in FSK: [-0.591944,-0.164161,0.789084]
2025-01-08T17:46:59.851Z,1736358419.851 [DAT](INFO): publishing transmit ping time
2025-01-08T17:46:59.855Z,1736358419.855 [DAT](INFO): publishing transmit ping time
2025-01-08T17:47:00.184Z,1736358420.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:00.562Z,1736358420.562 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:00.977Z,1736358420.977 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:01.356Z,1736358421.356 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:01.765Z,1736358421.765 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:02.195Z,1736358422.195 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:02.317Z,1736358422.317 [DAT](INFO): DAT read: Rx Time:17:47:01.0552

2025-01-08T17:47:02.318Z,1736358422.318 [DAT](INFO): Rx dataTimestamp_ set to:1736358422.317536
2025-01-08T17:47:02.581Z,1736358422.581 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:02.822Z,1736358422.822 [DAT](INFO): DAT read: OK

2025-01-08T17:47:02.824Z,1736358422.824 [DAT](INFO): unknown deviceResponse_: OK

2025-01-08T17:47:02.825Z,1736358422.825 [DAT](INFO): DAT read: user:376>

2025-01-08T17:47:02.828Z,1736358422.828 [DAT](INFO): DAT read: Tx time:17:47:02.1452

2025-01-08T17:47:02.829Z,1736358422.829 [DAT](INFO): Ping request sent.
2025-01-08T17:47:02.829Z,1736358422.829 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:47:02.830Z,1736358422.830 [DAT](INFO): publishing transmit ping time
2025-01-08T17:47:03.004Z,1736358423.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:03.377Z,1736358423.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:03.782Z,1736358423.782 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:04.227Z,1736358424.227 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:04.597Z,1736358424.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:05.105Z,1736358425.105 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:05.342Z,1736358425.342 [DAT](INFO): DAT read: Rx Time:17:47:04.0051

2025-01-08T17:47:05.343Z,1736358425.343 [DAT](INFO): Rx dataTimestamp_ set to:1736358425.342297
2025-01-08T17:47:05.413Z,1736358425.413 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:05.845Z,1736358425.845 [DAT](INFO): DAT read: OK

2025-01-08T17:47:05.845Z,1736358425.845 [DAT](INFO): unknown deviceResponse_: OK

2025-01-08T17:47:05.852Z,1736358425.852 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:06.267Z,1736358426.267 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:06.622Z,1736358426.622 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:07.067Z,1736358427.067 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:07.422Z,1736358427.422 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:07.822Z,1736358427.822 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:08.276Z,1736358428.276 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:08.632Z,1736358428.632 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:09.051Z,1736358429.051 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:09.439Z,1736358429.439 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:09.962Z,1736358429.962 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:10.296Z,1736358430.296 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:10.691Z,1736358430.691 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:11.108Z,1736358431.108 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:11.468Z,1736358431.468 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:11.860Z,1736358431.860 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:12.305Z,1736358432.305 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:12.681Z,1736358432.681 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:13.104Z,1736358433.104 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:13.482Z,1736358433.482 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:13.899Z,1736358433.899 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:14.306Z,1736358434.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:14.699Z,1736358434.699 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:15.141Z,1736358435.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:15.496Z,1736358435.496 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:15.906Z,1736358435.906 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:16.329Z,1736358436.329 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:16.711Z,1736358436.711 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:17.114Z,1736358437.114 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,32768,V
2025-01-08T17:47:17.122Z,1736358437.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.4 s old, using for 20.0 s.
2025-01-08T17:47:17.122Z,1736358437.122 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:17.525Z,1736358437.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 0.8 s old, using for 20.0 s.
2025-01-08T17:47:17.525Z,1736358437.525 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:17.941Z,1736358437.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): Bottom track data is 1.2 s old, using for 20.0 s.
2025-01-08T17:47:17.941Z,1736358437.941 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:18.386Z,1736358438.386 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-01-08T17:47:18.431Z,1736358438.431 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:18.748Z,1736358438.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:19.200Z,1736358439.200 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:19.559Z,1736358439.559 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:19.942Z,1736358439.942 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:20.446Z,1736358440.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:20.763Z,1736358440.763 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:21.183Z,1736358441.183 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:21.580Z,1736358441.580 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:21.969Z,1736358441.969 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:22.395Z,1736358442.395 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:22.767Z,1736358442.767 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:23.234Z,1736358443.234 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:23.664Z,1736358443.664 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:24.020Z,1736358444.020 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:24.435Z,1736358444.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:24.808Z,1736358444.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:25.261Z,1736358445.261 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:25.596Z,1736358445.596 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:26.004Z,1736358446.004 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:26.449Z,1736358446.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:26.809Z,1736358446.809 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:27.259Z,1736358447.259 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:27.623Z,1736358447.623 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:28.028Z,1736358448.028 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:28.446Z,1736358448.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:28.827Z,1736358448.827 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:29.310Z,1736358449.310 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:29.646Z,1736358449.646 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:30.041Z,1736358450.041 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:30.472Z,1736358450.472 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:30.854Z,1736358450.854 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:31.338Z,1736358451.338 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:31.669Z,1736358451.669 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:32.224Z,1736358452.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:32.649Z,1736358452.649 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:32.992Z,1736358452.992 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:33.435Z,1736358453.435 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:33.774Z,1736358453.774 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:34.164Z,1736358454.164 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:34.614Z,1736358454.614 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:34.981Z,1736358454.981 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:35.437Z,1736358455.437 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:35.795Z,1736358455.795 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:36.184Z,1736358456.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:36.627Z,1736358456.627 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:37.007Z,1736358457.007 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:37.506Z,1736358457.506 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:37.836Z,1736358457.836 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:38.224Z,1736358458.224 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:38.628Z,1736358458.628 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:39.035Z,1736358459.035 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:39.228Z,1736358459.228 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003098
2025-01-08T17:47:39.451Z,1736358459.451 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:39.460Z,1736358459.460 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): State switched to DOCKED.. Waiting for state timeout to act...
2025-01-08T17:47:39.461Z,1736358459.461 [lineCaptureHoming:J] Running Loop=1
2025-01-08T17:47:39.461Z,1736358459.461 [lineCaptureHoming:J] Running Loop=1
2025-01-08T17:47:39.462Z,1736358459.462 [lineCaptureHoming:J](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-08T17:47:39.462Z,1736358459.462 [lineCaptureHoming:MicromodemComms] Stopped
2025-01-08T17:47:39.462Z,1736358459.462 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-01-08T17:47:39.462Z,1736358459.462 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-01-08T17:47:39.462Z,1736358459.462 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-01-08T17:47:39.462Z,1736358459.462 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-01-08T17:47:39.821Z,1736358459.821 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:40.223Z,1736358460.223 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:40.687Z,1736358460.687 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:41.038Z,1736358461.038 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:41.517Z,1736358461.517 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:41.856Z,1736358461.856 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:42.253Z,1736358462.253 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:42.273Z,1736358462.273 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:47:42.685Z,1736358462.685 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:43.048Z,1736358463.048 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:43.507Z,1736358463.507 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:43.851Z,1736358463.851 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:44.260Z,1736358464.260 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:44.726Z,1736358464.726 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:45.080Z,1736358465.080 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:45.579Z,1736358465.579 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:46.107Z,1736358466.107 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:46.411Z,1736358466.411 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:46.857Z,1736358466.857 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:47.198Z,1736358467.198 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:47.642Z,1736358467.642 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:48.002Z,1736358468.002 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:48.406Z,1736358468.406 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:48.859Z,1736358468.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:49.212Z,1736358469.212 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:49.654Z,1736358469.654 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:50.050Z,1736358470.050 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:50.410Z,1736358470.410 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:50.845Z,1736358470.845 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:51.239Z,1736358471.239 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:51.724Z,1736358471.724 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:52.049Z,1736358472.049 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:52.455Z,1736358472.455 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:52.874Z,1736358472.874 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:53.240Z,1736358473.240 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:53.670Z,1736358473.670 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:54.070Z,1736358474.070 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:54.449Z,1736358474.449 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:54.900Z,1736358474.900 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:54.909Z,1736358474.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-01-08T17:47:55.028Z,1736358475.028 [DAT](DEBUG): Acoustic response timeout
2025-01-08T17:47:55.028Z,1736358475.028 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-01-08T17:47:55.263Z,1736358475.263 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:55.280Z,1736358475.280 [DAT](INFO): DAT read: user:377>

2025-01-08T17:47:55.281Z,1736358475.281 [DAT](INFO): DAT read: Tx time:17:47:54.4966

2025-01-08T17:47:55.281Z,1736358475.281 [DAT](INFO): Ping request sent.
2025-01-08T17:47:55.281Z,1736358475.281 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:47:55.282Z,1736358475.282 [DAT](INFO): publishing transmit ping time
2025-01-08T17:47:55.282Z,1736358475.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-01-08T17:47:55.533Z,1736358475.533 [DAT](INFO): DAT read: TxSync time:17:47:54.4959

2025-01-08T17:47:55.533Z,1736358475.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251823
2025-01-08T17:47:55.728Z,1736358475.728 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:55.784Z,1736358475.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502832
2025-01-08T17:47:56.036Z,1736358476.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754756
2025-01-08T17:47:56.172Z,1736358476.172 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:56.289Z,1736358476.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007266
2025-01-08T17:47:56.498Z,1736358476.498 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:56.540Z,1736358476.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258865
2025-01-08T17:47:56.792Z,1736358476.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510779
2025-01-08T17:47:56.924Z,1736358476.924 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:57.045Z,1736358477.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763409
2025-01-08T17:47:57.296Z,1736358477.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014723
2025-01-08T17:47:57.306Z,1736358477.306 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:57.548Z,1736358477.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266773
2025-01-08T17:47:57.769Z,1736358477.769 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:57.800Z,1736358477.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518796
2025-01-08T17:47:58.056Z,1736358478.056 [DAT](INFO): DAT read: Rx Time:17:47:56.9019

2025-01-08T17:47:58.057Z,1736358478.057 [DAT](INFO): Rx dataTimestamp_ set to:1736358478.056530
2025-01-08T17:47:58.057Z,1736358478.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775882
2025-01-08T17:47:58.138Z,1736358478.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:58.313Z,1736358478.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031453
2025-01-08T17:47:58.493Z,1736358478.493 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:58.563Z,1736358478.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280860
2025-01-08T17:47:58.818Z,1736358478.818 [DAT](INFO): DAT read: 17:47:56.9019 LVL= 23728, 28705, 27378, 24243, AGC= 40, IDX= 393, 0.03,-2.002,-1.959,-2.315,-0.253, PHS=-1.661,-1.659,-2.064, RAW=  29.8,  78.0, CAL=  28.7,  79.3, ROT= 121.3, -79.3

2025-01-08T17:47:58.819Z,1736358478.819 [DAT](INFO): got valid direction response:
 17:47:56.9019 LVL= 23728, 28705, 27378, 24243, AGC= 40, IDX= 393, 0.03,-2.002,-1.959,-2.315,-0.253, PHS=-1.661,-1.659,-2.064, RAW=  29.8,  78.0, CAL=  28.7,  79.3, ROT= 121.3, -79.3

2025-01-08T17:47:58.820Z,1736358478.820 [DAT](INFO): DAT read: Bearing 121.3, -79.3 (Local)

2025-01-08T17:47:58.821Z,1736358478.821 [DAT](INFO): Local bearing/azimuth received:
 Bearing 121.3, -79.3 (Local)

2025-01-08T17:47:58.822Z,1736358478.822 [DAT](INFO): DAT read: Range 10 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2025-01-08T17:47:58.822Z,1736358478.822 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-01-08T17:47:58.826Z,1736358478.826 [DAT](INFO): direction in FSK: [-0.096457,0.158644,0.982613]
2025-01-08T17:47:58.827Z,1736358478.827 [DAT](INFO): publishing direction and range info
2025-01-08T17:47:58.944Z,1736358478.944 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:59.318Z,1736358479.318 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:47:59.808Z,1736358479.808 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:00.138Z,1736358480.138 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:00.537Z,1736358480.537 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:00.979Z,1736358480.979 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:01.322Z,1736358481.322 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:01.776Z,1736358481.776 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:02.141Z,1736358482.141 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:02.549Z,1736358482.549 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:02.973Z,1736358482.973 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:03.349Z,1736358483.349 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:03.798Z,1736358483.798 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:04.151Z,1736358484.151 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:04.570Z,1736358484.570 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:04.984Z,1736358484.984 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:05.442Z,1736358485.442 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:05.878Z,1736358485.878 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:06.184Z,1736358486.184 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:06.578Z,1736358486.578 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:07.027Z,1736358487.027 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:07.380Z,1736358487.380 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:07.864Z,1736358487.864 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:08.193Z,1736358488.193 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:08.597Z,1736358488.597 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:09.017Z,1736358489.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:09.426Z,1736358489.426 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:09.859Z,1736358489.859 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:09.866Z,1736358489.866 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): VEHICLE DOCKED at depth of 66.128937 with power and with comms
2025-01-08T17:48:10.231Z,1736358490.231 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:10.259Z,1736358490.259 [lineCaptureHoming:Lap] Stopped
2025-01-08T17:48:10.259Z,1736358490.259 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-01-08T17:48:10.259Z,1736358490.259 [lineCaptureHoming:Lap:Docked] Stopped
2025-01-08T17:48:10.259Z,1736358490.259 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-01-08T17:48:10.259Z,1736358490.259 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-01-08T17:48:10.260Z,1736358490.260 [lineCaptureHoming:Lap](INFO): Running loop #2
2025-01-08T17:48:10.260Z,1736358490.260 [lineCaptureHoming:Lap] Running Loop=2
2025-01-08T17:48:10.260Z,1736358490.260 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-01-08T17:48:10.260Z,1736358490.260 [lineCaptureHoming:Lap:A] Running Loop=1
2025-01-08T17:48:10.641Z,1736358490.641 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:10.647Z,1736358490.647 [lineCaptureHoming:Lap] Stopped
2025-01-08T17:48:10.647Z,1736358490.647 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-01-08T17:48:10.647Z,1736358490.647 [lineCaptureHoming:Lap:A] Stopped
2025-01-08T17:48:10.688Z,1736358490.688 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-01-08T17:48:10.688Z,1736358490.688 [MissionManager](INFO): lineCaptureHoming is completed.
2025-01-08T17:48:10.688Z,1736358490.688 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-01-08T17:48:10.688Z,1736358490.688 [lineCaptureHoming] Stopped
2025-01-08T17:48:10.689Z,1736358490.689 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-01-08T17:48:10.689Z,1736358490.689 [lineCaptureHoming:Science] Stopped
2025-01-08T17:48:10.689Z,1736358490.689 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-01-08T17:48:10.689Z,1736358490.689 [lineCaptureHoming:Science:B] Stopped
2025-01-08T17:48:10.689Z,1736358490.689 [lineCaptureHoming:Science:C] Stopped
2025-01-08T17:48:10.689Z,1736358490.689 [lineCaptureHoming:Science:E] Stopped
2025-01-08T17:48:10.689Z,1736358490.689 [lineCaptureHoming:Science:F] Stopped
2025-01-08T17:48:10.689Z,1736358490.689 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-01-08T17:48:10.689Z,1736358490.689 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-01-08T17:48:10.690Z,1736358490.690 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-01-08T17:48:10.690Z,1736358490.690 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-01-08T17:48:10.690Z,1736358490.690 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-01-08T17:48:10.690Z,1736358490.690 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-01-08T17:48:10.690Z,1736358490.690 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-01-08T17:48:10.690Z,1736358490.690 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-01-08T17:48:10.690Z,1736358490.690 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-01-08T17:48:10.690Z,1736358490.690 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-01-08T17:48:10.690Z,1736358490.690 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-01-08T17:48:10.690Z,1736358490.690 [lineCaptureHoming:J] Stopped
2025-01-08T17:48:10.691Z,1736358490.691 [lineCaptureHoming:TrackAC.] Stopped
2025-01-08T17:48:10.691Z,1736358490.691 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-01-08T17:48:10.833Z,1736358490.833 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl
2025-01-08T17:48:10.924Z,1736358490.924 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-01-08T17:48:11.001Z,1736358491.001 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-01-08T17:48:11.001Z,1736358491.001 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-01-08T17:48:11.002Z,1736358491.002 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-01-08T17:48:11.040Z,1736358491.040 [DockingStepper](INFO): Pause
2025-01-08T17:48:11.091Z,1736358491.091 [WetLabsBB2FL](INFO): Powering down
2025-01-08T17:48:11.177Z,1736358491.177 [DAT](INFO): DAT read: user:378>

2025-01-08T17:48:11.178Z,1736358491.178 [DAT](INFO): DAT read: Tx time:17:48:10.3958

2025-01-08T17:48:11.178Z,1736358491.178 [DAT](INFO): Ping request sent.
2025-01-08T17:48:11.178Z,1736358491.178 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:48:11.179Z,1736358491.179 [DAT](INFO): publishing transmit ping time
2025-01-08T17:48:11.179Z,1736358491.179 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-01-08T17:48:11.281Z,1736358491.281 [WetLabsUBAT](INFO): Powering down
2025-01-08T17:48:11.316Z,1736358491.316 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:11.428Z,1736358491.428 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-01-08T17:48:11.636Z,1736358491.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:12.079Z,1736358492.079 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:12.446Z,1736358492.446 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:12.909Z,1736358492.909 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:13.420Z,1736358493.420 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:13.457Z,1736358493.457 [DAT](INFO): DAT read: Rx Time:17:48:12.2569

2025-01-08T17:48:13.459Z,1736358493.459 [DAT](INFO): Rx dataTimestamp_ set to:1736358493.457415
2025-01-08T17:48:13.674Z,1736358493.674 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:13.960Z,1736358493.960 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-01-08T17:48:13.963Z,1736358493.963 [DAT](INFO): DAT read: 17:48:12.2569 LVL= 24544, 30065, 29858, 23763, AGC= 39, IDX= 492,-0.28,-1.082,-1.125,-1.171, 0.656, PHS=-1.650,-1.734,-1.830, RAW=  57.9,  85.2, CAL=  57.6,  85.8, ROT=  92.4, -85.8

2025-01-08T17:48:13.964Z,1736358493.964 [DAT](INFO): got valid direction response:
 17:48:12.2569 LVL= 24544, 30065, 29858, 23763, AGC= 39, IDX= 492,-0.28,-1.082,-1.125,-1.171, 0.656, PHS=-1.650,-1.734,-1.830, RAW=  57.9,  85.2, CAL=  57.6,  85.8, ROT=  92.4, -85.8

2025-01-08T17:48:13.964Z,1736358493.964 [DAT](INFO): DAT read: OK

2025-01-08T17:48:13.965Z,1736358493.965 [DAT](INFO): unknown deviceResponse_: OK

2025-01-08T17:48:13.965Z,1736358493.965 [DAT](INFO): DAT read: user:379>

2025-01-08T17:48:13.966Z,1736358493.966 [DAT](INFO): DAT read: Tx time:17:48:13.3458

2025-01-08T17:48:13.966Z,1736358493.966 [DAT](INFO): Ping request sent.
2025-01-08T17:48:13.966Z,1736358493.966 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:48:13.966Z,1736358493.966 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-01-08T17:48:13.968Z,1736358493.968 [DAT](INFO): direction in FSK: [-0.003067,0.073174,0.997314]
2025-01-08T17:48:13.968Z,1736358493.968 [DAT](INFO): publishing transmit ping time
2025-01-08T17:48:13.971Z,1736358493.971 [DAT](INFO): publishing transmit ping time
2025-01-08T17:48:14.144Z,1736358494.144 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="OnDock">
    <DefineArg Name="DockedTime">
        <Units:hour />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="DetachedTimeout">
        <Dock:Docked.detachTimeout />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:Docked.rangeTimeout />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <BIT:CBIT.stopDepth />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="IfconfigInterval">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="RunScience">
        <False />
    </DefineArg>
    <DefineArg Name="MissionTimeout">
        <Arg Name="DockedTime" />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="DockedTime" />
        <Add>
            <Units:minute />
            <Value>5</Value>
        </Add>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="dataRead">
        <While>
            <True />
        </While>
        <ReadDatum>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Aggregate Id="science">
        <Parallel />
        <Break>
            <Not>
                <Arg Name="RunScience" />
            </Not>
        </Break>
        <Insert Filename="Insert/Science.tl" />
    </Aggregate>
    <Estimation:TrackAcousticContact>
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumberOfPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingUpdatePeriod" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="PeriodicCheck">
        <Parallel />
        <Aggregate Id="CheckIP">
            <Sequence />
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>! ifconfig</String>
                </Setting>
            </Guidance:Execute>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="IfconfigInterval" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
    </Aggregate>
    <Dock:Docked>
        <Sequence />
        <Timeout Duration="DockedTime" />
        <Setting>
            <Dock:Docked.detachTimeout />
            <Arg Name="DetachedTimeout" />
        </Setting>
        <Setting>
            <Dock:Docked.rangeTimeout />
            <Arg Name="RangeTimeout" />
        </Setting>
    </Dock:Docked>
    <Aggregate Id="Detach">
        <Sequence />
        <Break>
            <Arg Name="StayOnDock" />
            <Eq>
                <True />
            </Eq>
        </Break>
        <Syslog Severity="Important">
            Mission ending, breaking off. Range: 
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
            .
        </Syslog>
        <Dock:Undock>
            <Sequence />
        </Dock:Undock>
    </Aggregate>
</Mission>

2025-01-08T17:48:14.161Z,1736358494.161 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-01-08T17:48:14.168Z,1736358494.168 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-01-08T17:48:14.170Z,1736358494.170 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-01-08T17:48:14.179Z,1736358494.179 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:14.181Z,1736358494.181 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-01-08T17:48:14.183Z,1736358494.183 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-01-08T17:48:14.197Z,1736358494.197 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-01-08T17:48:14.212Z,1736358494.212 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 215.000000 m
2025-01-08T17:48:14.214Z,1736358494.214 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-01-08T17:48:14.221Z,1736358494.221 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-01-08T17:48:14.228Z,1736358494.228 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-01-08T17:48:14.231Z,1736358494.231 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-01-08T17:48:14.237Z,1736358494.237 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-01-08T17:48:14.239Z,1736358494.239 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-01-08T17:48:14.252Z,1736358494.252 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-01-08T17:48:14.252Z,1736358494.252 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-01-08T17:48:14.253Z,1736358494.253 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-01-08T17:48:14.389Z,1736358494.389 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-01-08T17:48:14.411Z,1736358494.411 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-01-08T17:48:14.415Z,1736358494.415 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 0.000000 m
2025-01-08T17:48:14.422Z,1736358494.422 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-01-08T17:48:14.424Z,1736358494.424 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-01-08T17:48:14.425Z,1736358494.425 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-01-08T17:48:14.446Z,1736358494.446 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-01-08T17:48:14.491Z,1736358494.491 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-01-08T17:48:14.512Z,1736358494.512 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:14.520Z,1736358494.520 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-01-08T17:48:14.520Z,1736358494.520 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-01-08T17:48:14.521Z,1736358494.521 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-01-08T17:48:14.548Z,1736358494.548 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-01-08T17:48:14.553Z,1736358494.553 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-01-08T17:48:14.588Z,1736358494.588 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-01-08T17:48:14.591Z,1736358494.591 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-01-08T17:48:14.591Z,1736358494.591 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-01-08T17:48:14.592Z,1736358494.592 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-01-08T17:48:14.696Z,1736358494.696 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-01-08T17:48:14.699Z,1736358494.699 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-01-08T17:48:14.701Z,1736358494.701 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-01-08T17:48:14.703Z,1736358494.703 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-01-08T17:48:14.706Z,1736358494.706 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-01-08T17:48:14.708Z,1736358494.708 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-01-08T17:48:14.739Z,1736358494.739 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-01-08T17:48:14.742Z,1736358494.742 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-01-08T17:48:14.744Z,1736358494.744 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-01-08T17:48:14.744Z,1736358494.744 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-01-08T17:48:14.759Z,1736358494.759 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-01-08T17:48:14.889Z,1736358494.889 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:15.321Z,1736358495.321 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:15.680Z,1736358495.680 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:16.135Z,1736358496.135 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:16.472Z,1736358496.472 [DAT](INFO): DAT read: Rx Time:17:48:15.2071

2025-01-08T17:48:16.473Z,1736358496.473 [DAT](INFO): Rx dataTimestamp_ set to:1736358496.472689
2025-01-08T17:48:16.518Z,1736358496.518 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:16.981Z,1736358496.981 [DAT](INFO): DAT read: 17:48:15.2071 LVL= 21680, 25297, 24146, 21459, AGC= 39, IDX= 444, 0.41,-1.187,-1.379,-1.637, 0.482, PHS=-1.581,-1.814,-2.122, RAW=  55.4,  76.4, CAL=  54.7,  78.2, ROT=  95.3, -78.2

2025-01-08T17:48:16.982Z,1736358496.982 [DAT](INFO): got valid direction response:
 17:48:15.2071 LVL= 21680, 25297, 24146, 21459, AGC= 39, IDX= 444, 0.41,-1.187,-1.379,-1.637, 0.482, PHS=-1.581,-1.814,-2.122, RAW=  55.4,  76.4, CAL=  54.7,  78.2, ROT=  95.3, -78.2

2025-01-08T17:48:16.982Z,1736358496.982 [DAT](INFO): DAT read: OK

2025-01-08T17:48:16.983Z,1736358496.983 [DAT](INFO): unknown deviceResponse_: OK

2025-01-08T17:48:16.983Z,1736358496.983 [DAT](INFO): DAT read: user:380>

2025-01-08T17:48:16.984Z,1736358496.984 [DAT](INFO): DAT read: Tx time:17:48:16.2959

2025-01-08T17:48:16.984Z,1736358496.984 [DAT](INFO): Ping request sent.
2025-01-08T17:48:16.984Z,1736358496.984 [DAT](INFO): transmitted an acoustic signal
2025-01-08T17:48:16.985Z,1736358496.985 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-01-08T17:48:16.986Z,1736358496.986 [DAT](INFO): direction in FSK: [-0.018889,0.203622,0.978867]
2025-01-08T17:48:16.986Z,1736358496.986 [DAT](INFO): publishing transmit ping time
2025-01-08T17:48:16.989Z,1736358496.989 [DAT](INFO): publishing transmit ping time
2025-01-08T17:48:17.017Z,1736358497.017 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:17.068Z,1736358497.068 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PeakShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="PeakDeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="PeakShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="PeakDeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-01-08T17:48:17.154Z,1736358497.154 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-01-08T17:48:17.161Z,1736358497.161 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-01-08T17:48:17.162Z,1736358497.162 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-01-08T17:48:17.164Z,1736358497.164 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-01-08T17:48:17.166Z,1736358497.166 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-01-08T17:48:17.176Z,1736358497.176 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-01-08T17:48:17.178Z,1736358497.178 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-01-08T17:48:17.184Z,1736358497.184 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-01-08T17:48:17.187Z,1736358497.187 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-01-08T17:48:17.193Z,1736358497.193 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-01-08T17:48:17.194Z,1736358497.194 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-01-08T17:48:17.197Z,1736358497.197 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-01-08T17:48:17.198Z,1736358497.198 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-01-08T17:48:17.208Z,1736358497.208 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-01-08T17:48:17.210Z,1736358497.210 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-01-08T17:48:17.213Z,1736358497.213 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-01-08T17:48:17.214Z,1736358497.214 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-01-08T17:48:17.224Z,1736358497.224 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-01-08T17:48:17.227Z,1736358497.227 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-01-08T17:48:17.233Z,1736358497.233 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-01-08T17:48:17.240Z,1736358497.240 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-01-08T17:48:17.242Z,1736358497.242 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-01-08T17:48:17.300Z,1736358497.300 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-01-08T17:48:17.302Z,1736358497.302 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 1 bool
2025-01-08T17:48:17.316Z,1736358497.316 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-01-08T17:48:17.318Z,1736358497.318 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-01-08T17:48:17.329Z,1736358497.329 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakShallowBound = nan m
2025-01-08T17:48:17.331Z,1736358497.331 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDeepBound = nan m
2025-01-08T17:48:17.342Z,1736358497.342 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-01-08T17:48:17.352Z,1736358497.352 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-01-08T17:48:17.354Z,1736358497.354 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-01-08T17:48:17.358Z,1736358497.358 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:17.368Z,1736358497.368 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-01-08T17:48:17.370Z,1736358497.370 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-01-08T17:48:17.381Z,1736358497.381 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-01-08T17:48:17.383Z,1736358497.383 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-01-08T17:48:17.393Z,1736358497.393 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-01-08T17:48:17.399Z,1736358497.399 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-01-08T17:48:17.411Z,1736358497.411 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-01-08T17:48:17.429Z,1736358497.429 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-01-08T17:48:17.431Z,1736358497.431 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-01-08T17:48:17.442Z,1736358497.442 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-01-08T17:48:17.461Z,1736358497.461 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-01-08T17:48:17.467Z,1736358497.467 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-01-08T17:48:17.470Z,1736358497.470 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-01-08T17:48:17.476Z,1736358497.476 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-01-08T17:48:17.478Z,1736358497.478 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-01-08T17:48:17.490Z,1736358497.490 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-01-08T17:48:17.494Z,1736358497.494 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-01-08T17:48:17.508Z,1736358497.508 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-01-08T17:48:17.510Z,1736358497.510 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-01-08T17:48:17.518Z,1736358497.518 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-01-08T17:48:17.520Z,1736358497.520 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-01-08T17:48:17.523Z,1736358497.523 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-01-08T17:48:17.529Z,1736358497.529 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-01-08T17:48:17.532Z,1736358497.532 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-01-08T17:48:17.534Z,1736358497.534 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-01-08T17:48:17.545Z,1736358497.545 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-01-08T17:48:17.547Z,1736358497.547 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-01-08T17:48:17.553Z,1736358497.553 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-01-08T17:48:17.560Z,1736358497.560 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-01-08T17:48:17.562Z,1736358497.562 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-01-08T17:48:17.568Z,1736358497.568 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-01-08T17:48:17.570Z,1736358497.570 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-01-08T17:48:17.581Z,1736358497.581 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-01-08T17:48:17.587Z,1736358497.587 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-01-08T17:48:17.590Z,1736358497.590 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-01-08T17:48:17.607Z,1736358497.607 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-01-08T17:48:17.610Z,1736358497.610 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-01-08T17:48:17.627Z,1736358497.627 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-01-08T17:48:17.630Z,1736358497.630 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-01-08T17:48:17.634Z,1736358497.634 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-01-08T17:48:17.645Z,1736358497.645 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-01-08T17:48:17.678Z,1736358497.678 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-01-08T17:48:17.693Z,1736358497.693 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-01-08T17:48:17.700Z,1736358497.700 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:17.733Z,1736358497.733 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-01-08T17:48:17.740Z,1736358497.740 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-01-08T17:48:17.743Z,1736358497.743 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-01-08T17:48:17.750Z,1736358497.750 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-01-08T17:48:17.754Z,1736358497.754 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-01-08T17:48:17.769Z,1736358497.769 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-01-08T17:48:17.788Z,1736358497.788 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-01-08T17:48:17.791Z,1736358497.791 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-01-08T17:48:17.801Z,1736358497.801 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-01-08T17:48:17.806Z,1736358497.806 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-01-08T17:48:17.817Z,1736358497.817 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-01-08T17:48:17.819Z,1736358497.819 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-01-08T17:48:17.825Z,1736358497.825 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-01-08T17:48:17.832Z,1736358497.832 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-01-08T17:48:17.834Z,1736358497.834 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-01-08T17:48:17.837Z,1736358497.837 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-01-08T17:48:17.839Z,1736358497.839 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-01-08T17:48:17.853Z,1736358497.853 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-01-08T17:48:17.859Z,1736358497.859 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-01-08T17:48:17.932Z,1736358497.932 [OnDock:science:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-08T17:48:18.002Z,1736358498.002 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-08T17:48:18.030Z,1736358498.030 [OnDock:science:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-08T17:48:18.053Z,1736358498.053 [OnDock:science:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-08T17:48:18.115Z,1736358498.115 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-08T17:48:18.147Z,1736358498.147 [OnDock:science:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-08T17:48:18.170Z,1736358498.170 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:18.193Z,1736358498.193 [OnDock:science:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-08T17:48:18.230Z,1736358498.230 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-01-08T17:48:18.275Z,1736358498.275 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-08T17:48:18.294Z,1736358498.294 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-08T17:48:18.318Z,1736358498.318 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-08T17:48:18.345Z,1736358498.345 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-01-08T17:48:18.373Z,1736358498.373 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-01-08T17:48:18.422Z,1736358498.422 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-01-08T17:48:18.429Z,1736358498.429 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-01-08T17:48:18.431Z,1736358498.431 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-01-08T17:48:18.448Z,1736358498.448 [OnDock:N.Docked](DEBUG): Construct.
2025-01-08T17:48:18.448Z,1736358498.448 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-01-08T17:48:18.511Z,1736358498.511 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-01-08T17:48:18.511Z,1736358498.511 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-01-08T17:48:18.527Z,1736358498.527 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:18.615Z,1736358498.615 [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
    }
  }
}


2025-01-08T17:48:18.624Z,1736358498.624 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock
2025-01-08T17:48:19.112Z,1736358499.112 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:19.120Z,1736358499.120 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-01-08T17:48:19.120Z,1736358499.120 [DefaultWithUndock] Running Loop=1
2025-01-08T17:48:19.120Z,1736358499.120 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-01-08T17:48:19.120Z,1736358499.120 [DefaultWithUndock:A.Wait] Running Loop=1
2025-01-08T17:48:19.120Z,1736358499.120 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-01-08T17:48:19.332Z,1736358499.332 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:19.496Z,1736358499.496 [DAT](INFO): DAT read: Rx Time:17:48:18.1572

2025-01-08T17:48:19.497Z,1736358499.497 [DAT](INFO): Rx dataTimestamp_ set to:1736358499.496551
2025-01-08T17:48:19.740Z,1736358499.740 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:20.002Z,1736358500.002 [DAT](INFO): DAT read: OK

2025-01-08T17:48:20.004Z,1736358500.004 [DAT](INFO): unknown deviceResponse_: OK

2025-01-08T17:48:20.175Z,1736358500.175 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:20.553Z,1736358500.553 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:20.951Z,1736358500.951 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:21.059Z,1736358501.059 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 1 hour
2025-01-08T17:48:21.059Z,1736358501.059 [CommandExec](IMPORTANT): got command run
2025-01-08T17:48:21.075Z,1736358501.075 [CommandExec](IMPORTANT): Running 
2025-01-08T17:48:21.355Z,1736358501.355 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:21.359Z,1736358501.359 [DefaultWithUndock] Stopped
2025-01-08T17:48:21.359Z,1736358501.359 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-01-08T17:48:21.359Z,1736358501.359 [DefaultWithUndock:A.Wait] Stopped
2025-01-08T17:48:21.359Z,1736358501.359 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-01-08T17:48:21.359Z,1736358501.359 [MissionManager](IMPORTANT): Started mission OnDock
2025-01-08T17:48:21.360Z,1736358501.360 [OnDock] Running Loop=1
2025-01-08T17:48:21.360Z,1736358501.360 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-01-08T17:48:21.360Z,1736358501.360 [OnDock:StandardEnvelopes] Running Loop=1
2025-01-08T17:48:21.360Z,1736358501.360 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-01-08T17:48:21.360Z,1736358501.360 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-08T17:48:21.360Z,1736358501.360 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-01-08T17:48:21.360Z,1736358501.360 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-08T17:48:21.360Z,1736358501.360 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-01-08T17:48:21.361Z,1736358501.361 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-08T17:48:21.361Z,1736358501.361 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-01-08T17:48:21.361Z,1736358501.361 [OnDock:BackseatDriver] Running Loop=1
2025-01-08T17:48:21.361Z,1736358501.361 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-01-08T17:48:21.361Z,1736358501.361 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-01-08T17:48:21.361Z,1736358501.361 [OnDock:PowerOnly] Running Loop=1
2025-01-08T17:48:21.361Z,1736358501.361 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-01-08T17:48:21.361Z,1736358501.361 [OnDock:PowerOnly:A] Running Loop=1
2025-01-08T17:48:21.361Z,1736358501.361 [OnDock:PowerOnly:B] Running Loop=1
2025-01-08T17:48:21.361Z,1736358501.361 [OnDock:PowerOnly:C] Running Loop=1
2025-01-08T17:48:21.361Z,1736358501.361 [OnDock:PowerOnly:D] Running Loop=1
2025-01-08T17:48:21.361Z,1736358501.361 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-01-08T17:48:21.362Z,1736358501.362 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-01-08T17:48:21.362Z,1736358501.362 [OnDock:dataRead] Running Loop=1
2025-01-08T17:48:21.362Z,1736358501.362 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-01-08T17:48:21.362Z,1736358501.362 [OnDock:dataRead:A] Running Loop=1
2025-01-08T17:48:21.362Z,1736358501.362 [OnDock:science] Running Loop=1
2025-01-08T17:48:21.362Z,1736358501.362 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-01-08T17:48:21.362Z,1736358501.362 [OnDock:science:Science] Running Loop=1
2025-01-08T17:48:21.362Z,1736358501.362 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-01-08T17:48:21.362Z,1736358501.362 [OnDock:science:Science:A] Running Loop=1
2025-01-08T17:48:21.362Z,1736358501.362 [OnDock:science:Science:B] Running Loop=1
2025-01-08T17:48:21.362Z,1736358501.362 [OnDock:science:Science:C] Running Loop=1
2025-01-08T17:48:21.363Z,1736358501.363 [OnDock:science:Science:D] Running Loop=1
2025-01-08T17:48:21.363Z,1736358501.363 [OnDock:science:Science:E] Running Loop=1
2025-01-08T17:48:21.363Z,1736358501.363 [OnDock:science:Science:F] Running Loop=1
2025-01-08T17:48:21.363Z,1736358501.363 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-01-08T17:48:21.363Z,1736358501.363 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-01-08T17:48:21.363Z,1736358501.363 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-01-08T17:48:21.363Z,1736358501.363 [OnDock:science:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2025-01-08T17:48:21.363Z,1736358501.363 [OnDock:science:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-08T17:48:21.365Z,1736358501.365 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-01-08T17:48:21.365Z,1736358501.365 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-01-08T17:48:21.365Z,1736358501.365 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-08T17:48:21.365Z,1736358501.365 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-08T17:48:21.365Z,1736358501.365 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-01-08T17:48:21.365Z,1736358501.365 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-01-08T17:48:21.366Z,1736358501.366 [OnDock:science:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2025-01-08T17:48:21.366Z,1736358501.366 [OnDock:science:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-08T17:48:21.367Z,1736358501.367 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-01-08T17:48:21.367Z,1736358501.367 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-01-08T17:48:21.367Z,1736358501.367 [OnDock:science:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2025-01-08T17:48:21.368Z,1736358501.368 [OnDock:science:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-08T17:48:21.369Z,1736358501.369 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-01-08T17:48:21.369Z,1736358501.369 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-01-08T17:48:21.369Z,1736358501.369 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-08T17:48:21.369Z,1736358501.369 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-08T17:48:21.370Z,1736358501.370 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-01-08T17:48:21.370Z,1736358501.370 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-01-08T17:48:21.370Z,1736358501.370 [OnDock:science:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2025-01-08T17:48:21.370Z,1736358501.370 [OnDock:science:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-08T17:48:21.371Z,1736358501.371 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-01-08T17:48:21.371Z,1736358501.371 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-01-08T17:48:21.372Z,1736358501.372 [OnDock:science:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2025-01-08T17:48:21.372Z,1736358501.372 [OnDock:science:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-08T17:48:21.373Z,1736358501.373 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-01-08T17:48:21.373Z,1736358501.373 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-01-08T17:48:21.373Z,1736358501.373 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-01-08T17:48:21.373Z,1736358501.373 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-01-08T17:48:21.373Z,1736358501.373 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-01-08T17:48:21.374Z,1736358501.374 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-01-08T17:48:21.374Z,1736358501.374 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Running Loop=1
2025-01-08T17:48:21.374Z,1736358501.374 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-08T17:48:21.374Z,1736358501.374 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_LM_AvgRois , but backseat URI detected. Waiting for presence.
2025-01-08T17:48:21.375Z,1736358501.375 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-01-08T17:48:21.375Z,1736358501.375 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-01-08T17:48:21.376Z,1736358501.376 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Running Loop=1
2025-01-08T17:48:21.376Z,1736358501.376 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-08T17:48:21.376Z,1736358501.376 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_HM_AvgRois , but backseat URI detected. Waiting for presence.
2025-01-08T17:48:21.377Z,1736358501.377 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-01-08T17:48:21.377Z,1736358501.377 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-01-08T17:48:21.377Z,1736358501.377 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Running Loop=1
2025-01-08T17:48:21.377Z,1736358501.377 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-08T17:48:21.377Z,1736358501.377 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_diatoms , but backseat URI detected. Waiting for presence.
2025-01-08T17:48:21.378Z,1736358501.378 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-01-08T17:48:21.378Z,1736358501.378 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-01-08T17:48:21.379Z,1736358501.379 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Running Loop=1
2025-01-08T17:48:21.379Z,1736358501.379 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Initialize.
2025-01-08T17:48:21.379Z,1736358501.379 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](INFO): No ElementURI called _.planktivore_dinoflagellates , but backseat URI detected. Waiting for presence.
2025-01-08T17:48:21.380Z,1736358501.380 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-01-08T17:48:21.380Z,1736358501.380 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-01-08T17:48:21.380Z,1736358501.380 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-01-08T17:48:21.380Z,1736358501.380 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-01-08T17:48:21.381Z,1736358501.381 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-01-08T17:48:21.381Z,1736358501.381 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-01-08T17:48:21.381Z,1736358501.381 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-01-08T17:48:21.381Z,1736358501.381 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-01-08T17:48:21.381Z,1736358501.381 [OnDock:J.] Running Loop=1
2025-01-08T17:48:21.381Z,1736358501.381 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-01-08T17:48:21.382Z,1736358501.382 [OnDock:PeriodicCheck] Running Loop=1
2025-01-08T17:48:21.382Z,1736358501.382 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-01-08T17:48:21.382Z,1736358501.382 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-01-08T17:48:21.382Z,1736358501.382 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-01-08T17:48:21.382Z,1736358501.382 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-01-08T17:48:21.382Z,1736358501.382 [OnDock:B] Running Loop=1
2025-01-08T17:48:21.383Z,1736358501.383 [OnDock:PeriodicCheck] Running Loop=1
2025-01-08T17:48:21.383Z,1736358501.383 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-01-08T17:48:21.383Z,1736358501.383 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-01-08T17:48:21.383Z,1736358501.383 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-01-08T17:48:21.383Z,1736358501.383 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-01-08T17:48:21.384Z,1736358501.384 [OnDock:J.] Running Loop=1
2025-01-08T17:48:21.384Z,1736358501.384 [OnDock:J.](ERROR): Failed to read sound speed
2025-01-08T17:48:21.384Z,1736358501.384 [OnDock:science] Stopped
2025-01-08T17:48:21.384Z,1736358501.384 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-01-08T17:48:21.384Z,1736358501.384 [OnDock:science:Science] Stopped
2025-01-08T17:48:21.384Z,1736358501.384 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-01-08T17:48:21.385Z,1736358501.385 [OnDock:science:Science:A] Stopped
2025-01-08T17:48:21.385Z,1736358501.385 [OnDock:science:Science:B] Stopped
2025-01-08T17:48:21.385Z,1736358501.385 [OnDock:science:Science:C] Stopped
2025-01-08T17:48:21.385Z,1736358501.385 [OnDock:science:Science:D] Stopped
2025-01-08T17:48:21.385Z,1736358501.385 [OnDock:science:Science:E] Stopped
2025-01-08T17:48:21.385Z,1736358501.385 [OnDock:science:Science:F] Stopped
2025-01-08T17:48:21.385Z,1736358501.385 [OnDock:science:Science:Read_Oil] Stopped
2025-01-08T17:48:21.385Z,1736358501.385 [OnDock:science:Science:OceanCurrent] Stopped
2025-01-08T17:48:21.385Z,1736358501.385 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-01-08T17:48:21.385Z,1736358501.385 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-01-08T17:48:21.385Z,1736358501.385 [OnDock:science:Science:PeakDetectChl] Stopped
2025-01-08T17:48:21.385Z,1736358501.385 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-01-08T17:48:21.385Z,1736358501.385 [OnDock:science:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2025-01-08T17:48:21.385Z,1736358501.385 [OnDock:science:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-08T17:48:21.385Z,1736358501.385 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-01-08T17:48:21.385Z,1736358501.385 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-01-08T17:48:21.386Z,1736358501.386 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-08T17:48:21.386Z,1736358501.386 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-08T17:48:21.386Z,1736358501.386 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-01-08T17:48:21.386Z,1736358501.386 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-01-08T17:48:21.386Z,1736358501.386 [OnDock:science:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2025-01-08T17:48:21.386Z,1736358501.386 [OnDock:science:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-08T17:48:21.386Z,1736358501.386 [OnDock:science:Science:PeakDetectOil] Stopped
2025-01-08T17:48:21.386Z,1736358501.386 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-01-08T17:48:21.386Z,1736358501.386 [OnDock:science:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2025-01-08T17:48:21.386Z,1736358501.386 [OnDock:science:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-08T17:48:21.386Z,1736358501.386 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-01-08T17:48:21.386Z,1736358501.386 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-01-08T17:48:21.386Z,1736358501.386 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-08T17:48:21.387Z,1736358501.387 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-08T17:48:21.387Z,1736358501.387 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-01-08T17:48:21.387Z,1736358501.387 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-01-08T17:48:21.387Z,1736358501.387 [OnDock:science:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2025-01-08T17:48:21.387Z,1736358501.387 [OnDock:science:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-08T17:48:21.397Z,1736358501.397 [CommandExec](IMPORTANT): got command ! ifconfig
2025-01-08T17:48:21.418Z,1736358501.418 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-01-08T17:48:21.435Z,1736358501.435 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-01-08T17:48:21.436Z,1736358501.436 [OnDock:science:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2025-01-08T17:48:21.436Z,1736358501.436 [OnDock:science:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-08T17:48:21.436Z,1736358501.436 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-01-08T17:48:21.437Z,1736358501.437 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-01-08T17:48:21.437Z,1736358501.437 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-01-08T17:48:21.437Z,1736358501.437 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-01-08T17:48:21.437Z,1736358501.437 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-01-08T17:48:21.438Z,1736358501.438 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-01-08T17:48:21.438Z,1736358501.438 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth] Stopped
2025-01-08T17:48:21.438Z,1736358501.438 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-08T17:48:21.438Z,1736358501.438 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-01-08T17:48:21.439Z,1736358501.439 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-01-08T17:48:21.439Z,1736358501.439 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth] Stopped
2025-01-08T17:48:21.440Z,1736358501.440 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-08T17:48:21.440Z,1736358501.440 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-01-08T17:48:21.440Z,1736358501.440 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-01-08T17:48:21.440Z,1736358501.440 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth] Stopped
2025-01-08T17:48:21.441Z,1736358501.441 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-08T17:48:21.441Z,1736358501.441 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-01-08T17:48:21.441Z,1736358501.441 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-01-08T17:48:21.441Z,1736358501.441 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth] Stopped
2025-01-08T17:48:21.442Z,1736358501.442 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2025-01-08T17:48:21.442Z,1736358501.442 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-01-08T17:48:21.442Z,1736358501.442 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-01-08T17:48:21.442Z,1736358501.442 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-01-08T17:48:21.443Z,1736358501.443 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-01-08T17:48:21.447Z,1736358501.447 [OnDock:dataRead] Running Loop=1
2025-01-08T17:48:21.448Z,1736358501.448 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-01-08T17:48:21.449Z,1736358501.449 [OnDock:PowerOnly] Running Loop=1
2025-01-08T17:48:21.449Z,1736358501.449 [OnDock:PowerOnly:D] Stopped
2025-01-08T17:48:21.449Z,1736358501.449 [OnDock:PowerOnly:C] Stopped
2025-01-08T17:48:21.450Z,1736358501.450 [OnDock:PowerOnly:B] Stopped
2025-01-08T17:48:21.450Z,1736358501.450 [OnDock:PowerOnly:A] Stopped
2025-01-08T17:48:21.450Z,1736358501.450 [OnDock:BackseatDriver] Running Loop=1
2025-01-08T17:48:21.451Z,1736358501.451 [OnDock:B] Stopped
2025-01-08T17:48:21.451Z,1736358501.451 [OnDock:C] Running Loop=1
2025-01-08T17:48:21.459Z,1736358501.459 [OnDock:StandardEnvelopes] Running Loop=1
2025-01-08T17:48:21.459Z,1736358501.459 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-01-08T17:48:21.460Z,1736358501.460 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-01-08T17:48:21.461Z,1736358501.461 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-01-08T17:48:21.644Z,1736358501.644 [CommandExec](IMPORTANT): eth0      Link encap:Ethernet  HWaddr 50:2D:F4:07:45:4B  
            inet addr:134.89.93.61  Bcast:134.89.93.255  Mask:255.255.255.0
            UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
            RX packets:10920 errors:0 dropped:0 overruns:0 frame:0
            TX packets:20588 errors:0 dropped:0 overruns:0 carrier:0
            collisions:74 txqueuelen:1000 
            RX bytes:4515501 (4.3 Mb)  TX bytes:3394889 (3.2 Mb)
            Interrupt:29 
  
  lo        Link encap:Local Loopback  
            inet addr:127.0.0.1  Mask:255.0.0.0
            UP LOOPBACK RUNNING MULTICAST  MTU:16436  Metric:1
            RX packets:5221 errors:0 dropped:0 overruns:0 frame:0
            TX packets:5221 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:0 
            RX bytes:469958 (458.9 Kb)  TX bytes:469958 (458.9 Kb)
  
  
2025-01-08T17:48:22.085Z,1736358502.085 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:22.116Z,1736358502.116 [OnDock:C] Stopped
2025-01-08T17:48:22.116Z,1736358502.116 [OnDock:D] Running Loop=1
2025-01-08T17:48:22.377Z,1736358502.377 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:22.383Z,1736358502.383 [OnDock:D] Stopped
2025-01-08T17:48:22.383Z,1736358502.383 [OnDock:E] Running Loop=1
2025-01-08T17:48:22.783Z,1736358502.783 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:22.791Z,1736358502.791 [OnDock:E] Stopped
2025-01-08T17:48:22.791Z,1736358502.791 [OnDock:K] Running Loop=1
2025-01-08T17:48:23.206Z,1736358503.206 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config
2025-01-08T17:48:23.211Z,1736358503.211 [OnDock:K](IMPORTANT): Restarting logs
2025-01-08T17:48:23.211Z,1736358503.211 [OnDock:K] Stopped
2025-01-08T17:48:23.211Z,1736358503.211 [OnDock:L.Execute] Running Loop=1
2025-01-08T17:48:23.584Z,1736358503.584 [DeadReckonUsingMultipleVelocitySources](DEBUG): using accuracyPremultiplier from config